public abstract double raycast(double angle, double maxRange, Point2D point, Robot owner, out SimulatorObject hit, bool absolute = false);
Beispiel #2
0
 public abstract double raycast(double angle, double maxRange, Point2D point, Robot owner, out SimulatorObject hit, bool absolute = false);
        /// <summary>
        /// Casts a ray from the robot's center point according to the specified Angle and returns the Distance to the closest object.
        /// </summary>
        /// <param name="Angle">Angle of sensor, in radians. Also see the "absolute" parameter.</param>
        /// <param name="maxRange">Max Distance that the robot can see in front of itself.</param>
        /// <param name="point">2D location of the robot's center.</param>
        /// <param name="Owner">The currently active robot.</param>
        /// <param name="hit">** Output variable ** - true if another object intersects the cast ray, false otherwise.</param>
        /// <param name="absolute">If false, the Angle parameter is relative to the agent's Heading. Otherwise it follows the standard unit AreaOfImpact.</param>
        /// <returns></returns>
		public override double raycast (double angle, double maxRange, Point2D point, Robot owner, out SimulatorObject hit, bool absolute = false)
		{
			hit=null;
	        Point2D casted = new Point2D(point);
            double distance = maxRange;

            // Cast point casted out from the robot's center point along the sensor direction
            if (!absolute)
            {
                casted.X += Math.Cos(angle + owner.Heading) * distance;
                casted.Y += Math.Sin(angle + owner.Heading) * distance;
            }
            else
            {
                casted.X += Math.Cos(angle) * distance;
                casted.Y += Math.Sin(angle) * distance;
            }

            // Create line segment from robot's center to casted point
            Line2D cast = new Line2D(point, casted);

            // Now do naive detection of collision of casted rays with objects
            // First for all walls
            foreach (Wall wall in Domain.walls)
            {
                if (!wall.Visible)
                    continue;
                bool found = false;
                Point2D intersection = wall.Line.intersection(cast, out found);
                if (found)
                {
                    double new_distance = intersection.distance(point);
                    if (new_distance < distance) {
                        distance = new_distance;
						hit=wall;
					}
                }
            }

            // Then for all robots
			if(!AgentVisible)
            	return distance;

            foreach (Robot robot2 in Robots)
            {
                bool found = false;

                if (robot2 == owner)
                    continue;

                double new_distance = cast.nearestIntersection(robot2.AreaOfImpact, out found);

                if (found)
                {
                    if (new_distance < distance)
                    {
                        distance = new_distance;
						hit=robot2;
                    }
                }
            }
            return distance;
        }
        /// <summary>
        /// Casts a ray from the robot's center point according to the specified Angle and returns the Distance to the closest object.
        /// </summary>
        /// <param name="Angle">Angle of sensor, in radians. Also see the "absolute" parameter.</param>
        /// <param name="maxRange">Max Distance that the robot can see in front of itself.</param>
        /// <param name="point">2D location of the robot's center.</param>
        /// <param name="Owner">The currently active robot.</param>
        /// <param name="hit">** Output variable ** - true if another object intersects the cast ray, false otherwise.</param>
        /// <param name="absolute">If false, the Angle parameter is relative to the agent's Heading. Otherwise it follows the standard unit AreaOfImpact.</param>
        /// <returns></returns>
        public override double raycast(double angle, double maxRange, Point2D point, Robot owner, out SimulatorObject hit, bool absolute = false)
        {
            hit = null;
            Point2D casted   = new Point2D(point);
            double  distance = maxRange;

            // Cast point casted out from the robot's center point along the sensor direction
            if (!absolute)
            {
                casted.X += Math.Cos(angle + owner.Heading) * distance;
                casted.Y += Math.Sin(angle + owner.Heading) * distance;
            }
            else
            {
                casted.X += Math.Cos(angle) * distance;
                casted.Y += Math.Sin(angle) * distance;
            }

            // Create line segment from robot's center to casted point
            Line2D cast = new Line2D(point, casted);

            // Now do naive detection of collision of casted rays with objects
            // First for all walls
            foreach (Wall wall in Domain.walls)
            {
                if (!wall.Visible)
                {
                    continue;
                }
                bool    found        = false;
                Point2D intersection = wall.Line.intersection(cast, out found);
                if (found)
                {
                    double new_distance = intersection.distance(point);
                    if (new_distance < distance)
                    {
                        distance = new_distance;
                        hit      = wall;
                    }
                }
            }

            // Then for all robots
            if (!AgentVisible)
            {
                return(distance);
            }

            foreach (Robot robot2 in Robots)
            {
                bool found = false;

                if (robot2 == owner)
                {
                    continue;
                }

                double new_distance = cast.nearestIntersection(robot2.AreaOfImpact, out found);

                if (found)
                {
                    if (new_distance < distance)
                    {
                        distance = new_distance;
                        hit      = robot2;
                    }
                }
            }
            return(distance);
        }