public void MoveChange(Robot robot, int turn, double fromX, double fromY, double toX, double toY)
{
clearUsages(movementObstacles.Values);
var enumerator = getEnumerator(movementObstacles, fromX, fromY, toX, toY).GetEnumerator();
List <IMoveInfluence> usedObstacle = new List <IMoveInfluence>();
while (enumerator.MoveNext())
{
IMoveInfluence movementObstacle = enumerator.Current;
if (movementObstacle == null)
{
continue;
}
movementObstacle.Used = true;
usedObstacle.Add(movementObstacle);
Segment leadSegment = new Segment(fromX, fromY, toX, toY);
Point nearestIntersect = EuclideanSpaceUtils.GetNearestIntersect(leadSegment, movementObstacle.Segments());
robot.X = nearestIntersect.X;
robot.Y = nearestIntersect.Y;
double prevFromX = fromX;
double prevFromY = fromY;
double prevToX = toX;
double prevToY = toY;
movementObstacle.Change(robot, turn, ref fromX, ref fromY, ref toX, ref toY);
if (!fromX.DEquals(prevFromX) || !fromY.DEquals(prevFromY) || !toX.DEquals(prevToX) || toY.DEquals(prevToY))
{
enumerator.Dispose();
enumerator = getEnumerator(movementObstacles, fromX, fromY, toX, toY).GetEnumerator();
}
}
enumerator.Dispose();
robot.X = toX;
robot.Y = toY;
clearUsages(usedObstacle);
}
public void AddMovementObstacle(IMoveInfluence obstacle)
{
this.movementObstacles.Add(new Point(obstacle.X, obstacle.Y), obstacle);
}
