public void Quarry(Point centralPoint, float widthOfSearch, List <Point> found)
{
if (!IntersectsWithRect(centralPoint.loc.X, centralPoint.loc.Y, widthOfSearch))
{
return;
}
else
{
colour = new Vector3(1, 1, 0);
foreach (Point other in points)
{
if (centralPoint != other && Contains(other.loc, new Vector2(centralPoint.loc.X, centralPoint.loc.Y), new Vector2(widthOfSearch, widthOfSearch)))
{
found.Add(other.Copy());
}
}
}
if (isDivided)
{
topleft.Quarry(centralPoint, widthOfSearch, found);
topright.Quarry(centralPoint, widthOfSearch, found);
botleft.Quarry(centralPoint, widthOfSearch, found);
botright.Quarry(centralPoint, widthOfSearch, found);
}
}
//public void UpdatePheromones()
//{
// List<Pheromone> toRemove = new List<Pheromone>();
// foreach (var p in pathPheromones)
// {
// if (p.durationLeft == 0)
// toRemove.Add(p);
// else
// p.UpdateSaturation();
// }
// pathPheromones.RemoveAll(p => toRemove.Contains(p));
// toRemove = new List<Pheromone>();
// foreach (var p in foodPheromones)
// {
// if (p.durationLeft == 0)
// toRemove.Add(p);
// else
// p.UpdateSaturation();
// }
// foodPheromones.RemoveAll(p => toRemove.Contains(p));
// foreach (var ant in ants)
// {
// if (ant.isCarryingFood)
// foodPheromones.Add(new Pheromone(3, ant.loc, 150));
// else
// pathPheromones.Add(new Pheromone(3, ant.loc, 150));
// }
//}
public void SeekFood(QTree foodQTree)
{
foreach (var ant in ants)
{
if (!ant.isCarryingFood)
{
List <Point> neibs = new List <Point>();
foodQTree.Quarry(new Point(ant.loc + ant.vel.Normalized() * ant.size * 3.5f), ant.size * 5f, neibs);
if (neibs.Count != 0)
{
Point minNeib = neibs[0];
float minDist = Vector2.Distance(neibs[0].loc, ant.loc);
foreach (var n in neibs)
{
float dist = Vector2.Distance(n.loc, ant.loc);
if (dist < minDist)
{
minDist = dist;
minNeib = n;
}
}
if (minDist < ant.size)
{
ant.isCarryingFood = true;
ant.vel *= -1;
ant.pheromoneDurationLeft = ant.pheromoneDuration;
}
else
{
ant.Steer(minNeib.loc, 1f);
}
}
}
}
}