public void DriverView(Thinker thinker)
{
ArrayList objects = new ArrayList();
Opponent self = (Opponent)thinker.Self;
Camera eyes = self.Eyes;
// get a local copy of the objects that the camera can see
objects.Clear();
foreach (Object3D obj in eyes.VisibleObjects)
{
objects.Add(obj);
}
float range_to_nearest = 10000.0f;
float bearing_to_nearest = 0.0f;
Object3D nearest_object = null;
// nearest red post
foreach (Object3D obj in objects)
{
if (obj.Name.Substring(0, 3) == "red")
{
float range = eyes.GetDistance(obj);
if (range < range_to_nearest)
{
range_to_nearest = range;
nearest_object = obj;
}
}
}
if (nearest_object != null)
{
bearing_to_nearest = GetBearing(self, nearest_object);
thinker.SetFact("red_post_in_sight", 1.0f);
thinker.SetFact("red_post_range", range_to_nearest);
thinker.SetFact("red_post_bearing", bearing_to_nearest);
}
else
{
thinker.SetFact("red_post_in_sight", 0.0f);
}
// nearest blue post
range_to_nearest = 10000.0f;
foreach (Object3D obj in objects)
{
if (obj.Name.Substring(0, 4) == "blue")
{
float range = eyes.GetDistance(obj);
if (range < range_to_nearest)
{
range_to_nearest = range;
nearest_object = obj;
}
}
}
if (nearest_object != null)
{
bearing_to_nearest = GetBearing(self, nearest_object);
thinker.SetFact("blue_post_in_sight", 1.0f);
thinker.SetFact("blue_post_range", range_to_nearest);
thinker.SetFact("blue_post_bearing", bearing_to_nearest);
}
else
{
thinker.SetFact("blue_post_in_sight", 0.0f);
}
// nearest obstacle (vehicles and trees)
range_to_nearest = 10000.0f;
foreach (Object3D obj in objects)
{
if (obj.Name.Substring(0, 4) == "tree" ||
obj.Name.Substring(0, 3) == "car")
{
float bearing = GetBearing(self, nearest_object);
float range = eyes.GetDistance(obj);
// only accept nearest object within +/- 5 degrees
if (Math.Abs(bearing) < 0.087266462599716478846184538424431 && range < range_to_nearest)
{
range_to_nearest = range;
nearest_object = obj;
bearing_to_nearest = bearing;
}
}
}
if (nearest_object != null)
{
thinker.SetFact("obstacle_in_sight", 1.0f);
thinker.SetFact("obstacle_range", range_to_nearest);
thinker.SetFact("obstacle_bearing", bearing_to_nearest);
}
else
{
thinker.SetFact("obstacle_in_sight", 0.0f);
}
}
