private void OnObjectFound(MarsObject o)
{
if (ObjectFound != null)
{
ObjectFound(this, o);
}
}
private void OnObjectSeen(MarsObject o)
{
if (ObjectSeen != null)
{
ObjectSeen(this, o);
}
}
protected void DrawDebugEllipse(MarsObject obj, Brush b)
{
if (DebugEllipse != null)
{
DebugEllipse(obj, b);
}
}
private void DrawRover(Rover r, Graphics g)
{
// cheat and draw the rover twice as large as it should be
MarsObject obj = new MarsObject(r.Position, r.Radius * 4);
g.SmoothingMode = System.Drawing.Drawing2D.SmoothingMode.HighQuality;
Rectangle rect = GetObjectRect(obj);
g.FillEllipse(m_roverBrush, rect);
g.DrawEllipse(m_borderPen, rect);
}
public bool FindClosestCollision(Vector2d origin, float direction, float length, float padding, ref MarsObject obj, ref float distance, ref int tests)
{
Vector2d end = origin + (Vector2d.FromAngle(direction) * -length);
// exit if line doesn't intersect
if (!IntersectsLine(origin, end))
{
return(false);
}
// test children
if (children != null)
{
return(FindClosestCollisionChildren(origin, direction, length, padding, ref obj, ref distance, ref tests));
}
// test objects
float closest_range = float.MaxValue;
MarsObject closest_object = null;
foreach (MarsObject o in objects)
{
tests++;
Vector2d point = new Vector2d();
if (o.Intersect(origin, end, padding, ref point))
{
//OnCollision(point);
float range = (origin - point).length();
if (range < closest_range && range > 0.0f)
{
closest_range = range;
closest_object = o;
}
}
}
if (closest_range != float.MaxValue)
{
obj = closest_object;
distance = closest_range;
return(true);
}
return(false);
}
public void AddObject(MarsObject o)
{
if (children == null)
{
objects.Add(o);
if (objects.Count > SPLIT_ITEMS && depth < MAX_DEPTH)
{
Split();
}
}
else
{
foreach (SimpleQuadTree t in children)
{
if (t.rect.IntersectsWith(o.GetRect()))
{
t.AddObject(o);
}
}
}
}
private bool FindClosestCollisionChildren(Vector2d origin, float direction, float length, float padding, ref MarsObject obj, ref float distance, ref int tests)
{
bool found_closer = false;
foreach (SimpleQuadTree t in children)
{
float temp_distance = float.MaxValue;
MarsObject temp_obj = null;
if (t.FindClosestCollision(origin, direction, length, padding, ref temp_obj, ref temp_distance, ref tests))
{
if (temp_distance < distance)
{
distance = temp_distance;
obj = temp_obj;
found_closer = true;
}
}
}
return(found_closer);
}
private Rectangle GetObjectRect(MarsObject obj)
{
PointF center = new PointF(
(obj.Position.x + m_offset.X) * m_scale.Width,
((obj.Position.y * -1.0f) + m_offset.Y) * m_scale.Height);
Rectangle r = new Rectangle(
(int)(center.X - (obj.Radius * m_scale.Width)),
(int)(center.Y - (obj.Radius * m_scale.Height)),
(int)((obj.Radius * m_scale.Width) * 2),
(int)((obj.Radius * m_scale.Height) * 2));
// make sure it is at least 1 px by 1px
if (r.Width == 0)
{
r.Width = 1;
}
if (r.Height == 0)
{
r.Height = 1;
}
return(r);
}
private float NearestObject(float heading, float max_dist, float padding, ref MarsObject closest_obj, bool check_martians)
{
m_numRayCasts++;
max_dist = Math.Min(max_dist, m_world.Rover.Speed * 5.0f);
//Vector2d angle = new Vector2d(
// (float)Math.Cos(((-1.0f * heading) - 90) * (Math.PI / 180.0f)),
// (float)Math.Sin(((-1.0f * heading) - 90) * (Math.PI / 180.0f)));
//Vector2d end = m_world.Rover.Position + (-max_dist * angle);
Vector2d end = m_world.Rover.Position + (Vector2d.FromAngle(heading) * -max_dist);
//DrawDebugLine(m_world.Rover.Position, end, Pens.Blue);
float closest_range = float.MaxValue;
m_world.QuadTree.FindClosestCollision(m_world.Rover.Position, heading, max_dist, padding, ref closest_obj, ref closest_range, ref m_numRayTests);
Vector2d point = new Vector2d();
if (check_martians)
{
foreach (Martian m in m_world.Martians)
{
//m_numRayTests++;
if (m.Intersect(m_world.Rover.Position, end, padding, ref point)) // give martians a wide berth
{
//DrawDebugEllipse(m, Brushes.Yellow);
float range = (m_world.Rover.Position - point).length();
if (range < closest_range && range > 0.0f) // ignore the obstacle if we think we are inside of it (avoids panics)
{
closest_range = range;
closest_obj = m;
}
}
}
}
if ((m_debugFlags & DebugFlags.ChooseRandomTarget) == DebugFlags.ChooseRandomTarget) // actively avoid home
{
if (m_world.FoundHome && m_world.Home.Intersect(m_world.Rover.Position, end, padding, ref point))
{
float range = (m_world.Rover.Position - point).length();
if (range < closest_range && range > 0.0f) // ignore the obstacle if we think we are inside of it (avoids panics)
{
closest_range = range;
closest_obj = m_world.Home;
}
}
}
if (closest_range == float.MaxValue)
{
if ((m_debugFlags & DebugFlags.DrawRays) == DebugFlags.DrawRays)
{
DrawDebugLine(m_world.Rover.Position, end, Pens.Blue);
}
}
else if ((m_debugFlags & DebugFlags.DrawRays) == DebugFlags.DrawRays)
{
DrawDebugLine(m_world.Rover.Position, end, Pens.Red);
}
return(closest_range);
}
private bool TrajectoryHitsObject(float heading, float max_dist, float padding, bool check_martians)
{
MarsObject dummy = null;
return(float.MaxValue != NearestObject(heading, max_dist, padding, ref dummy, check_martians));
}
private float GetClosestDistance(Vector2d vector2d, float heading, float distance, float padding, bool checkmartians)
{
MarsObject temp = null;
return(NearestObject(heading, distance, padding, ref temp, checkmartians));
}
private bool VerifyTurn(ref float heading, ref MoveType gas)
{
float turn_angle = heading - m_world.Rover.Direction;
if (turn_angle > 0.0f)
{
if (turn_angle > 180.0f)
{
turn_angle -= 360.0f;
}
}
if (turn_angle < 0.0f)
{
if (turn_angle < -180.0f)
{
turn_angle += 360.0f;
}
}
MarsObject critical_object = null;
float critical_distance = NearestObject(m_world.Rover.Direction, m_world.Rover.Speed * 1.5f, 1.0f, ref critical_object, true);
if (critical_object != null) // need to perform a close-range avoidance
{
Vector2d angle = Vector2d.FromAngle(m_world.Rover.Direction);
Vector2d end = m_world.Rover.Position + (m_world.Rover.Speed * angle);
float collision_offset = critical_object.DistanceFromLine(m_world.Rover.Position, end);
TurnType dir = critical_object.DistanceFromLine(m_world.Rover.Position, end) > 0.0 ? TurnType.Left : TurnType.Right;
if ((critical_object.Radius - Math.Abs(collision_offset) > m_criticalTurn) ||
critical_distance < m_criticalDistance)
{
dir = critical_object.DistanceFromLine(m_world.Rover.Position, end) > 0.0 ? TurnType.HardLeft : TurnType.HardRight;
gas = MoveType.Brake;
//Log("BRAKING");
}
DoTurn(dir);
return(false);
}
float safe_angle = float.MaxValue;
float closest_distance = float.MaxValue;
float safest_angle = float.MaxValue;
float safest_distance = float.MinValue;
bool found_safest = false;
float inc = turn_angle > 0.0f ? 0.5f : -0.5f;
for (float angle = inc; Math.Abs(angle) < Math.Abs(turn_angle); angle += inc)
{
float temp_closest = GetClosestDistance(m_world.Rover.Position, m_world.Rover.Direction + angle, m_world.Rover.Speed * 1.5f, 1.0f, true);
closest_distance = Math.Min(closest_distance, temp_closest);
if (closest_distance == float.MaxValue) // still nothing
{
safe_angle = angle;
}
if (temp_closest > safest_distance && !found_safest)
{
safest_distance = temp_closest;
safest_angle = angle;
}
else if (temp_closest < safest_distance)
{
found_safest = true;
}
}
if (safe_angle != float.MaxValue)
{
//DrawDebugRay(m_world.Rover.Position, m_world.Rover.Direction + safe_angle, m_world.Rover.Speed * 1.5f, Pens.Blue);
heading = m_world.Rover.Direction + safe_angle;
}
else if (safest_angle != float.MaxValue)
{
//DrawDebugRay(m_world.Rover.Position, m_world.Rover.Direction, m_world.Rover.Speed * 1.5f, Pens.Green);
//for (float angle = inc; Math.Abs(angle) <= Math.Abs(turn_angle); angle += inc)
// DrawDebugRay(m_world.Rover.Position, m_world.Rover.Direction + angle, m_world.Rover.Speed * 1.5f, Pens.Yellow);
heading = m_world.Rover.Direction + safest_angle;
//DrawDebugRay(m_world.Rover.Position, heading, m_world.Rover.Speed * 1.5f, Pens.Yellow);
}
return(true);
}
private bool FindFirstCollision(Vector2d origin, float direction, float length, float padding, ref MarsObject obj, ref float distance)
{
return(false);
}
void m_controller_DebugEllipse(MarsObject obj, Brush b)
{
worldVisualizer.DrawEllipse(obj, b);
}
public void DrawEllipse(MarsObject obj, Brush b)
{
m_debugEllipses.Add(new Ellipse(GetObjectRect(obj), b));
}
