public abstract double raycast(double angle, double maxRange, Point2D point, Robot owner, out SimulatorObject hit, bool absolute = false);
public abstract double raycast(double angle, double maxRange, Point2D point, Robot owner, out SimulatorObject hit, bool absolute = false);
/// <summary>
/// Casts a ray from the robot's center point according to the specified Angle and returns the Distance to the closest object.
/// </summary>
/// <param name="Angle">Angle of sensor, in radians. Also see the "absolute" parameter.</param>
/// <param name="maxRange">Max Distance that the robot can see in front of itself.</param>
/// <param name="point">2D location of the robot's center.</param>
/// <param name="Owner">The currently active robot.</param>
/// <param name="hit">** Output variable ** - true if another object intersects the cast ray, false otherwise.</param>
/// <param name="absolute">If false, the Angle parameter is relative to the agent's Heading. Otherwise it follows the standard unit AreaOfImpact.</param>
/// <returns></returns>
public override double raycast (double angle, double maxRange, Point2D point, Robot owner, out SimulatorObject hit, bool absolute = false)
{
hit=null;
Point2D casted = new Point2D(point);
double distance = maxRange;
// Cast point casted out from the robot's center point along the sensor direction
if (!absolute)
{
casted.X += Math.Cos(angle + owner.Heading) * distance;
casted.Y += Math.Sin(angle + owner.Heading) * distance;
}
else
{
casted.X += Math.Cos(angle) * distance;
casted.Y += Math.Sin(angle) * distance;
}
// Create line segment from robot's center to casted point
Line2D cast = new Line2D(point, casted);
// Now do naive detection of collision of casted rays with objects
// First for all walls
foreach (Wall wall in Domain.walls)
{
if (!wall.Visible)
continue;
bool found = false;
Point2D intersection = wall.Line.intersection(cast, out found);
if (found)
{
double new_distance = intersection.distance(point);
if (new_distance < distance) {
distance = new_distance;
hit=wall;
}
}
}
// Then for all robots
if(!AgentVisible)
return distance;
foreach (Robot robot2 in Robots)
{
bool found = false;
if (robot2 == owner)
continue;
double new_distance = cast.nearestIntersection(robot2.AreaOfImpact, out found);
if (found)
{
if (new_distance < distance)
{
distance = new_distance;
hit=robot2;
}
}
}
return distance;
}
/// <summary>
/// Casts a ray from the robot's center point according to the specified Angle and returns the Distance to the closest object.
/// </summary>
/// <param name="Angle">Angle of sensor, in radians. Also see the "absolute" parameter.</param>
/// <param name="maxRange">Max Distance that the robot can see in front of itself.</param>
/// <param name="point">2D location of the robot's center.</param>
/// <param name="Owner">The currently active robot.</param>
/// <param name="hit">** Output variable ** - true if another object intersects the cast ray, false otherwise.</param>
/// <param name="absolute">If false, the Angle parameter is relative to the agent's Heading. Otherwise it follows the standard unit AreaOfImpact.</param>
/// <returns></returns>
public override double raycast(double angle, double maxRange, Point2D point, Robot owner, out SimulatorObject hit, bool absolute = false)
{
hit = null;
Point2D casted = new Point2D(point);
double distance = maxRange;
// Cast point casted out from the robot's center point along the sensor direction
if (!absolute)
{
casted.X += Math.Cos(angle + owner.Heading) * distance;
casted.Y += Math.Sin(angle + owner.Heading) * distance;
}
else
{
casted.X += Math.Cos(angle) * distance;
casted.Y += Math.Sin(angle) * distance;
}
// Create line segment from robot's center to casted point
Line2D cast = new Line2D(point, casted);
// Now do naive detection of collision of casted rays with objects
// First for all walls
foreach (Wall wall in Domain.walls)
{
if (!wall.Visible)
{
continue;
}
bool found = false;
Point2D intersection = wall.Line.intersection(cast, out found);
if (found)
{
double new_distance = intersection.distance(point);
if (new_distance < distance)
{
distance = new_distance;
hit = wall;
}
}
}
// Then for all robots
if (!AgentVisible)
{
return(distance);
}
foreach (Robot robot2 in Robots)
{
bool found = false;
if (robot2 == owner)
{
continue;
}
double new_distance = cast.nearestIntersection(robot2.AreaOfImpact, out found);
if (found)
{
if (new_distance < distance)
{
distance = new_distance;
hit = robot2;
}
}
}
return(distance);
}
