public float MinDistanceToObstacle(Vector3 point)
{
const float R = 0;
Vector3 c = point;
return(AllObstacles.Aggregate(float.MaxValue, (current, obstacle) => TestOneObstacleOverlap(current, R, obstacle.Radius, c, obstacle.Center)));
}
public static void AddOneObstacle()
{
if (obstacleCount < maxObstacleCount)
{
// pick a random center and radius,
// loop until no overlap with other obstacles and the home base
float r;
Vector3 c;
float minClearance;
float requiredClearance = Globals.Seeker.Radius * 4; // 2 x diameter
do
{
r = Utilities.Random(1.5f, 4);
c = Vector3Helpers.RandomVectorOnUnitRadiusXZDisk() * Globals.MaxStartRadius * 1.1f;
minClearance = float.MaxValue;
System.Diagnostics.Debug.WriteLine(String.Format("[{0}, {1}, {2}]", c.X, c.Y, c.Z));
for (int so = 0; so < AllObstacles.Count; so++)
{
minClearance = TestOneObstacleOverlap(minClearance, r, AllObstacles[so].Radius, c, AllObstacles[so].Center);
}
minClearance = TestOneObstacleOverlap(minClearance, r, Globals.HomeBaseRadius - requiredClearance, c, Globals.HomeBaseCenter);
}while (minClearance < requiredClearance);
// add new non-overlapping obstacle to registry
AllObstacles.Add(new SphericalObstacle(r, c));
obstacleCount++;
}
}
public static void RemoveOneObstacle()
{
if (obstacleCount > 0)
{
obstacleCount--;
AllObstacles.RemoveAt(obstacleCount);
}
}
public static void RemoveOneObstacle()
{
if (ObstacleCount <= 0)
{
return;
}
ObstacleCount--;
AllObstacles.RemoveAt(ObstacleCount);
}
public static void AddOneObstacle()
{
if (obstacleCount < maxObstacleCount)
{
// pick a random center and radius,
// loop until no overlap with other obstacles and the home base
//float r = 15;
//Vector3 c = Vector3.Up * r * (-0.5f * maxObstacleCount + obstacleCount);
float r = Utilities.Random(0.5f, 2);
Vector3 c = Vector3Helpers.RandomVectorInUnitRadiusSphere() * worldRadius * 1.1f;
// add new non-overlapping obstacle to registry
AllObstacles.Add(new SphericalObstacle(r, c));
obstacleCount++;
}
}
private static void AddOneObstacle()
{
if (_obstacleCount >= MAX_OBSTACLE_COUNT)
{
return;
}
// pick a random center and radius,
// loop until no overlap with other obstacles and the home base
//float r = 15;
//Vector3 c = Vector3.Up * r * (-0.5f * maxObstacleCount + obstacleCount);
float r = RandomHelpers.Random(0.5f, 2);
Vector3 c = Vector3Helpers.RandomVectorInUnitRadiusSphere() * WORLD_RADIUS * 1.1f;
// add new non-overlapping obstacle to registry
AllObstacles.Add(new SphericalObstacle(r, c));
_obstacleCount++;
}
public static void AddOneObstacle(float radius)
{
// pick a random center and radius,
// loop until no overlap with other obstacles and the home base
float r;
Vector3 c;
float minClearance;
float requiredClearance = Globals.Seeker.Radius * 4; // 2 x diameter
do
{
r = RandomHelpers.Random(1.5f, 4);
c = Vector3Helpers.RandomVectorOnUnitRadiusXZDisk() * Globals.MAX_START_RADIUS * 1.1f;
minClearance = AllObstacles.Aggregate(float.MaxValue, (current, t) => TestOneObstacleOverlap(current, r, t.Radius, c, t.Center));
minClearance = TestOneObstacleOverlap(minClearance, r, radius - requiredClearance, c, Globals.HomeBaseCenter);
}while (minClearance < requiredClearance);
// add new non-overlapping obstacle to registry
AllObstacles.Add(new SphericalObstacle(r, c));
ObstacleCount++;
}
