public Robot(float x, float y, float angle, int id, ref StaticMap map)
{
_x = x;
_y = y;
_angle = angle;
_map = map;
this.id = id;
for (int i = -5; i <= 5; i++)
{
sensors.Add(new Sensor(0, 0, (float)i * 0.1f));
}
}
public float CheckDistance(StaticMap map, Robot robot)
{
float step = 1;
float sin = (float)Math.Sin(_angle + robot.Angle);
float cos = (float)Math.Cos(_angle + robot.Angle);
float xCurrent = _x, yCurrent = _y; //промежуточные точки луча
for (float i = 0; i < MaxDist; i += step)
{
xCurrent += step * cos;
yCurrent += step * sin;
if (map.IsCellOccupied(robot.X + xCurrent, robot.Y + yCurrent))
{
return(measuredDist = (float)Math.Sqrt(xCurrent * xCurrent + yCurrent * yCurrent));
}
}
return(measuredDist = MaxDist);
}
/**
* params:
* staticMap - map with static obstacles
* logTextBox - text window for debug information and auction results output
*/
public World(ref StaticMap staticMap, RichTextBox logTextBox)
{
this.staticMap = staticMap;
this.logTextBox = logTextBox;
}