public override void Fire()
{
Init(); //be sure to leave this here to enable use of the na variable
Module2DModel naModel = (Module2DModel)FindModuleByType(typeof(Module2DModel));
if (naModel == null)
{
return;
}
for (int i = 0; i < na.Height; i++)
{
//neurons: 0:touch 1:antAngle 2:antDistance 3: sensedLineAngle 4: conf1 5: len1 6: conf2 7: len2 8: touch-ended 9: modelchanged
if (na.GetNeuronAt(0, i).CurrentCharge == 0)
{
continue;
}
float antDist = na.GetNeuronAt(1, i).CurrentCharge;
float antAngle = na.GetNeuronAt(2, i).CurrentCharge;
float lineAngle = na.GetNeuronAt(3, i).CurrentCharge;
float p1IsEndpt = na.GetNeuronAt(4, i).CurrentCharge;
float l1 = na.GetNeuronAt(5, i).CurrentCharge;
float p2IsEndpt = na.GetNeuronAt(6, i).CurrentCharge;
float l2 = na.GetNeuronAt(7, i).CurrentCharge;
float mR = na.GetNeuronAt(9, i).CurrentCharge;
float mTheta = na.GetNeuronAt(10, i).CurrentCharge;
float mPhi = na.GetNeuronAt(11, i).CurrentCharge;
PointPlus motion = new PointPlus()
{
R = mR, Theta = mTheta, Conf = mPhi
};
//create the line segment (all coordinates relative to self)
PointPlus antennaPos = new PointPlus()
{
R = antDist, Theta = antAngle
};
float lineAngleAbs = antAngle - lineAngle;
PointPlus pv1 = new PointPlus()
{
R = l1, Theta = (float)Math.PI + lineAngleAbs
};
PointPlus pv2 = new PointPlus()
{
R = l2, Theta = lineAngleAbs
};
Point P1 = antennaPos.P + pv1.V;
Point P2 = antennaPos.P + pv2.V;
PointPlus P1P = new PointPlus()
{
P = P1, Conf = 1 - p1IsEndpt
};
PointPlus P2P = new PointPlus()
{
P = P2, Conf = 1 - p2IsEndpt
};
bool modelChanged = naModel.AddSegmentFromTouch(P1P, P2P, motion, i);
}
}