public int CompareTo(object obj)
{
ArcPoint temp = (ArcPoint)obj;
if (Theta > temp.Theta)
{
return(1);
}
return(-1);
}
private void Go(Vector2Int origin, int recursion, int visionDistance, double theta1, double theta2)
{
if (recursion > visionDistance)
{
return;
}
else if (recursion <= 0)
{
return;
}
List <ArcPoint> circle = Circles[recursion];
int circleSize = circle.Count;
bool wasObstacle = false;
bool foundClear = false;
for (int i = 0; i < circleSize; i++)
{
ArcPoint point = circle[i];
int pX = origin.x + point.X;
int pY = origin.y + point.Y;
if (!Board.Contains(pX, pY))
{
wasObstacle = true;
continue;
}
if (point.Lagging < theta1 && point.Theta != theta1 && point.Theta != theta2)
{
continue;
}
if (point.Leading > theta2 && point.Theta != theta1 && point.Theta != theta2)
{
continue;
}
Board.Visible(pX, pY);
bool isObstacle = Board.IsObstacle(pX, pY);
if (isObstacle == true)
{
if (wasObstacle == true)
{
continue;
}
else if (foundClear == true)
{
double runEndTheta = point.Leading;
double runStartTheta = theta1;
if (recursion < visionDistance)
{
Go(origin, recursion + 1, visionDistance, runStartTheta, runEndTheta);
}
wasObstacle = true;
}
else
{
if (point.Theta == 0.0f)
{
theta1 = 0.0f;
}
else
{
theta1 = point.Leading;
}
}
}
else
{
foundClear = true;
if (wasObstacle == true)
{
ArcPoint last = circle[i - 1];
theta1 = last.Lagging;
wasObstacle = false;
}
else
{
wasObstacle = false;
continue;
}
}
wasObstacle = isObstacle;
}
if (recursion < visionDistance)
{
Go(origin, recursion + 1, visionDistance, theta1, theta2);
}
}
public override bool Equals(object obj)
{
ArcPoint temp = (ArcPoint)obj;
return(Theta == temp.Theta);
}
