From 4d0eac703cc353626f4fbba37d326f939b16f055 Mon Sep 17 00:00:00 2001
From: Stephen McQuay <stephen@mcquay.me>
Date: Sun, 12 Jan 2014 01:23:20 -0800
Subject: [PATCH] removed unecessary looping from probe

---
 robot.go | 41 +++++++++++++++++++----------------------
 1 file changed, 19 insertions(+), 22 deletions(-)

diff --git a/robot.go b/robot.go
index bd80980..4b3f69d 100644
--- a/robot.go
+++ b/robot.go
@@ -206,22 +206,16 @@ func (r *robot) selectDirection() *govector.Point2d {
 
 func (r *robot) probe(destination govector.Point2d) bool {
 	// XXX: make test for this
-	var i int
-	for i = 0; i < maxSearchIterations; i++ {
-		for _, v := range r.knownObstacles {
-			collided, _, _ := govector.RectIntersection(
-				v.Bounds,
-				r.me.Position,
-				destination.Sub(r.me.Position),
-			)
-			if collided {
-				return false
-			}
+	for _, v := range r.knownObstacles {
+		collided, _, _ := govector.RectIntersection(
+			v.Bounds,
+			r.me.Position,
+			destination.Sub(r.me.Position),
+		)
+		if collided {
+			return false
 		}
 	}
-	if *verbose {
-		log.Printf("%s: iterations to find destination: %d", r.name, i)
-	}
 	return true
 }
 
@@ -239,20 +233,13 @@ func (r *robot) navigate() {
 		r.moveto = r.selectDirection()
 	}
 
-	if r.me.Collision {
-		if *verbose {
-			log.Printf("%s apparent collision", r.name)
-		}
-		r.moveto = r.selectDirection()
-		r.speed = 0
-		return
-	}
 	togo := r.me.Position.Sub(*r.moveto).Mag()
 	if togo < safeDistance+5 {
 		if *verbose {
 			log.Printf("%s got to destination", r.name)
 		}
 		r.moveto = r.selectDirection()
+		return
 	}
 	if !r.probe(r.me.Position.Add(r.me.Heading.Scale(safeDistance))) {
 		if *verbose {
@@ -264,6 +251,16 @@ func (r *robot) navigate() {
 				log.Printf("%s unsafe to move, choose new direction", r.name)
 			}
 			r.moveto = r.selectDirection()
+			return
 		}
 	}
+	if r.me.Collision {
+		// XXX: I am being told I am here ...
+		if *verbose {
+			log.Printf("%s apparent collision", r.name)
+		}
+		r.moveto = r.selectDirection()
+		r.speed = 0
+		return
+	}
 }