public override void Fire()
{
Init(); //be sure to leave this here to enable use of the na variable
double[] rotation = { -Math.PI / 2, -Math.PI / 24, 0, Math.PI / 24, Math.PI / 2 };
float direction = 0;
for (int i = 0; i < na.Width; i++)
{
if (na.GetNeuronAt(i, 0).LastCharge > 0.9 || na.GetNeuronAt(i, 0).LastCharge > 0.9 && i < rotation.Length)
{
direction = (float)rotation[i];
}
}
if (na.GetNeuronAt(2, 0).CurrentCharge != 0)
{
direction = na.GetNeuronAt(2, 0).CurrentCharge;
na.GetNeuronAt(2, 0).SetValue(0);
}
ModuleRealityModel mrm = (ModuleRealityModel)FindModuleByType(typeof(ModuleRealityModel));
if (mrm != null && direction != 0)
{
mrm.Rotate(20);
}
Module2DSim m2D = (Module2DSim)FindModuleByType(typeof(Module2DSim));
if (m2D != null && direction != 0)
{
m2D.Rotate(direction);
}
Module3DSim m3D = (Module3DSim)FindModuleByType(typeof(Module3DSim));
if (m3D != null && direction != 0)
{
m3D.Rotate(direction);
}
Module2DModel m2DModel = (Module2DModel)FindModuleByType(typeof(Module2DModel));
if (m2DModel != null && direction != 0)
{
m2DModel.Rotate(direction);
}
Module2DVision m2DVision = (Module2DVision)FindModuleByType(typeof(Module2DVision));
if (m2DVision != null && direction != 0)
{
m2DVision.ViewChanged();
}
}
//do ray tracing to create the view the Entitiy would see
private void HandleVision(int row)
{
int retinaWidth = GetModuleWidth("Module2DVision");
if (row == 0)
{
currentView0.Clear();
}
else
{
currentView1.Clear();
}
int[] pixels = new int[retinaWidth];
for (int i = 0; i < retinaWidth; i++)
{
double theta = Module2DVision.GetDirectionFromNeuron(i, retinaWidth);
theta = entityDirection1 + theta;
//create a segment from the view direction for this pixel (length 100 assumes the size of the universe)
Point p2 = entityPosition + new Vector(Cos(theta) * 100.0, Sin(theta) * 100.0);
Color theColor = Colors.Pink;
double closestDistance = 20;
for (int j = 0; j < objects.Count; j++)
{
Utils.FindIntersection(entityPosition, p2, objects[j].P1, objects[j].P2,
out bool lines_intersect, out bool segments_intersect,
out Point intersection, out Point close_p1, out Point closep2, out double collisionAngle);
if (segments_intersect)
{
double distance = Point.Subtract(intersection, entityPosition).Length;
if (distance < closestDistance)
{
closestDistance = distance;
theColor = objects[j].theColor;
if (theColor != Colors.Black && false) //TODO texture is commented out
{
//we can give the line some line texture
PointPlus P1 = new PointPlus(objects[j].P1);
PointPlus P2 = new PointPlus(objects[j].P2);
PointPlus pIntersection = new PointPlus(intersection);
PointPlus delta = P2 - P1;
delta.R = .1f;
Segment s = new Segment(P1, P2, objects[j].theColor);
//this is slow as a snail but exactly matches the display code
for (int k = 1; k < 1 + s.Length * 10; k += 2)
{
PointPlus PStart = new PointPlus((Point)(P1.V + k * delta.V));
PointPlus PEnd = new PointPlus((Point)(P1.V + (k + .5f) * delta.V));
if (pIntersection.Theta >= Min(PStart.Theta, PEnd.Theta) && pIntersection.Theta <= Max(PStart.Theta, PEnd.Theta))
{
theColor = Colors.AliceBlue;
}
}
}
}
}
}
pixels[i] = Utils.ColorToInt(theColor);
Point p3 = entityPosition + new Vector(Cos(theta), Sin(theta));
if (row == 0)
{
currentView0.Add(new physObject()
{
P1 = p3, P2 = entityPosition, theColor = theColor
});
}
//currentView0.Add(new physObject() { P1 = p3, P2 = new Point(0, 0), theColor = theColor });
else
{
currentView1.Add(new physObject()
{
P1 = p3, P2 = entityPosition, theColor = theColor
});
}
}
SetNeuronVector("Module2DVision", true, row, pixels);
}
public override void Fire()
{
Init(); //be sure to leave this here to enable use of the na variable
float[] dist = { .5f, .1f, 0, -.025f, -.1f };
float motionX = 0;
float motionY = 0;
if (na.Width < 3)
{
Initialize();
}
for (int i = 0; i < na.Height; i++)
{
if (na.GetNeuronAt(1, i).LastCharge > 0.9)
{
motionX = dist[i];
}
}
if (na.GetNeuronAt(1, 2).CurrentCharge != 0)
{
motionX = na.GetNeuronAt(1, 2).CurrentCharge;
na.GetNeuronAt(1, 2).SetValue(0);
}
if (na.GetNeuronAt(0, 2).LastCharge > 0.9)
{
motionY = 0.5f;
}
if (na.GetNeuronAt(2, 2).LastCharge > 0.9)
{
motionY = -0.5f;
}
//obsolete
ModuleRealityModel mrm = (ModuleRealityModel)FindModuleByType(typeof(ModuleRealityModel));
if (mrm != null)
{
mrm.Move(motionX);
}
Module3DSim m3D = (Module3DSim)FindModuleByType(typeof(Module3DSim));
if (m3D != null && motionX != 0)
{
m3D.Move(motionX);
}
bool moved = false;
Module2DSim m2D = (Module2DSim)FindModuleByType(typeof(Module2DSim));
if (m2D != null && motionX != 0 || motionY != 0)
{
moved = m2D.Move(motionX, motionY);
}
Module2DModel m2DModel = (Module2DModel)FindModuleByType(typeof(Module2DModel));
if (m2DModel != null && moved && motionX != 0 || motionY != 0)
{
m2DModel.Move(motionX, motionY);
}
Module2DVision m2DVision = (Module2DVision)FindModuleByType(typeof(Module2DVision));
if (m2DVision != null && motionX != 0)
{
m2DVision.ViewChanged();
}
}
