public WorldState(InitializationMessage init)
{
m_size = init.size;
m_rover = new Rover(init.min_sensor, init.max_sensor, init.max_turn, init.max_hard_turn);
m_timeLimit = init.time_limit;
m_tree = new SimpleQuadTree(new RectangleF(-(m_size.Width / 2.0f), -(m_size.Height / 2.0f), m_size.Width, m_size.Height));
}
public SimpleQuadTree(RectangleF rect, SimpleQuadTree parent)
{
this.rect = rect;
this.depth = parent.depth + 1;
this.parent = parent;
foreach (MarsObject o in parent.objects)
{
if (this.rect.IntersectsWith(o.GetRect()))
{
AddObject(o);
}
}
}
private void Split()
{
children = new SimpleQuadTree[4];
children[0] = new SimpleQuadTree(
new RectangleF(rect.Left, rect.Top, rect.Width / 2.0f, rect.Height / 2.0f),
this);
children[1] = new SimpleQuadTree(
new RectangleF(children[0].rect.Right, rect.Top, this.rect.Width / 2.0f, this.rect.Height / 2.0f),
this);
children[2] = new SimpleQuadTree(
new RectangleF(rect.Left, children[0].rect.Bottom, this.rect.Width / 2.0f, this.rect.Height / 2.0f),
this);
children[3] = new SimpleQuadTree(
new RectangleF(children[0].rect.Right, children[0].rect.Bottom, this.rect.Width / 2.0f, this.rect.Height / 2.0f),
this);
objects = null;
}