public bool Crashing(Car car, int carnum, out CheckLine line, out double _reward)
{
if (activation == null)
{
throw new Exception("활성화되지 않은 라인!");
}
Line left, right;
car.car_vertex(out left, out right);
bool b = false;
PointF crashedPoint = new PointF();
if (left.CrossLIne(this, ref crashedPoint))
{
b = true;
}
else if (right.CrossLIne(this, ref crashedPoint))
{
b = true;
}
if (b)
{
activation[carnum] = false;
nextLine.activation[carnum] = true;
line = nextLine;
_reward = reward;
return(true);
}
else
{
_reward = 0;
line = this;
return(false);
}
}
public CheckLine()
{
nextLine = this;
}
/// <summary>
/// 다음번 선과 링크
/// </summary>
/// <param name="next">다음번 라인</param>
public void Link(CheckLine next)
{
nextLine = next;
}
void makeCheckLines()
{
int half = TrackHeight / 2;
//센터라인 양끝과 중앙, 반원형 1/3, 2/3 지점에 체크라인
CheckLine make(CheckLine frontline, PointF p1, PointF p2, bool plus)
{
int size = TrackSize;
if (!plus)
{
size = -TrackSize;
}
CheckLine c0 = new CheckLine();
c0.setPoint1((p1.X + p2.X) / 2, p1.Y);
c0.setPoint2((p1.X + p2.X) / 2, p1.Y + size);
frontline.Link(c0);
c0.setreward(Bonusreward);
CheckLine c1 = new CheckLine();
c1.setPoint1(p2);
c1.setPoint2(p2.X, p2.Y + size);
c0.Link(c1);
Linelist.Add(c0);
Linelist.Add(c1);
return(c1);
}
CheckLine make_round(CheckLine frontline, PointF center, int startdegree, int enddegree)
{
double radian_1 = m.to_radian * (startdegree + (enddegree - startdegree) / 3);
double radian_2 = m.to_radian * (startdegree + (enddegree - startdegree) / 3 * 2);
CheckLine c0 = new CheckLine();
c0.setPoint1((int)(center.X + Math.Sin(radian_1) * half),
(int)(center.Y + Math.Cos(radian_1) * half));
c0.setPoint2((int)(center.X + Math.Sin(radian_1) * (half + TrackSize)),
(int)(center.Y + Math.Cos(radian_1) * (half + TrackSize)));
frontline.Link(c0);
CheckLine c1 = new CheckLine();
c1.setPoint1((int)(center.X + Math.Sin(radian_2) * half),
(int)(center.Y + Math.Cos(radian_2) * half));
c1.setPoint2((int)(center.X + Math.Sin(radian_2) * (half + TrackSize)),
(int)(center.Y + Math.Cos(radian_2) * (half + TrackSize)));
c0.Link(c1);
Linelist.Add(c0);
Linelist.Add(c1);
return(c1);
}
CheckLine lastline = new CheckLine();
lastline.setPoint1(CenterLine.point1.X, CenterLine.point1.Y + half);
lastline.setPoint2(CenterLine.point1.X, CenterLine.point1.Y + half + TrackSize);
firstgoal = make(lastline, new PointF(CenterLine.point1.X, CenterLine.point1.Y + half),
new PointF(CenterLine.point2.X, CenterLine.point2.Y + half), true);
CheckLine line2 = make_round(firstgoal, CenterLine.point2, 0, 180);
CheckLine line3 = new CheckLine();
line3.setPoint1(CenterLine.point2.X, CenterLine.point2.Y - half);
line3.setPoint2(CenterLine.point2.X, CenterLine.point2.Y - half - TrackSize);
line2.Link(line3);
Linelist.Add(line3);
CheckLine line4 = make(line3, new PointF(CenterLine.point2.X, CenterLine.point2.Y - half),
new PointF(CenterLine.point1.X, CenterLine.point1.Y - half), false);
CheckLine line5 = make_round(line4, CenterLine.point1, 180, 360);
line5.Link(lastline);
for (int i = 0; i < carnum; i++)
{
}
//firstgoal.Activate();
//currentgoal = firstgoal;
Linelist.Add(lastline);
foreach (CheckLine c in Linelist)
{
c.Show();
}
}
