private void UpdatePhysics()
{
colony.Wander(new Random());
if (timeSteps % 10 == 0 && doSpawn)
{
colony.ants.Add(new Ant(5, new Vector2(w / 2, h / 2), Misc.VecFromAng(r.NextDouble(), (float)(new Random().NextDouble()) * 2f)));
}
if (timeSteps % 3 == 0)
{
colony.UpdatePheromones();
}
colony.pathPheromonesQTree = new QTree(new Vector2(w / 2, h / 2), new Vector2(w, h), 1);
colony.pathPheromonesQTree.Fill(colony.pathPheromones.ToList <Point>());
colony.foodPheromonesQTree = new QTree(new Vector2(w / 2, h / 2), new Vector2(w, h), 1);
colony.foodPheromonesQTree.Fill(colony.foodPheromones.ToList <Point>());
foodQTree = new QTree(new Vector2(w / 2, h / 2), new Vector2(w, h), 1);
foodQTree.Fill(food);
colony.FollowPheromones();
colony.SeekFood(foodQTree);
colony.SeekHome(new Vector2(w / 2, h / 2));
colony.AvoidBorders(30, w, h);
colony.BounceFromBorders(w, h);
colony.UpdateLocation();
}
void Subdivide()
{
if (!isDivided)
{
topleft = new QTree(new Vector2(loc.X - dim.X / 4, loc.Y - dim.Y / 4), new Vector2(dim.X / 2, dim.Y / 2), capacity);
topright = new QTree(new Vector2(loc.X + dim.X / 4, loc.Y - dim.Y / 4), new Vector2(dim.X / 2, dim.Y / 2), capacity);
botleft = new QTree(new Vector2(loc.X - dim.X / 4, loc.Y + dim.Y / 4), new Vector2(dim.X / 2, dim.Y / 2), capacity);
botright = new QTree(new Vector2(loc.X + dim.X / 4, loc.Y + dim.Y / 4), new Vector2(dim.X / 2, dim.Y / 2), capacity);
isDivided = true;
}
}
public void SeekFood(QTree foodQTree)
{
foreach (var ant in ants)
{
if (!ant.isCarryingFood)
{
List <Neighbour> neibs = new List <Neighbour>();
foodQTree.Quarry(new Point(ant.loc + ant.vel.Normalized() * ant.size * 1.5f), ant.size * 3.0f, neibs);
if (neibs.Count != 0)
{
Neighbour minNeib = neibs[0];
float minDist = Vector2.Distance(neibs[0].point.loc, ant.loc);
foreach (var n in neibs)
{
float dist = Vector2.Distance(n.point.loc, ant.loc);
if (dist < minDist)
{
minDist = dist;
minNeib = n;
}
}
if (minDist < ant.size)
{
ant.isCarryingFood = true;
ant.vel *= -1;
}
else
{
ant.Steer(minNeib.point.loc);
}
}
}
}
}