private void turn(DecoratedRobot dr, RobotAction ra)
{
RobotTurnAction rta = (RobotTurnAction)ra;
dr.setHeading(getNewHeading(dr.getHeading(),rta.getDirection()));
}
private void walk(DecoratedRobot dr)
{
Point currentPosition = getRobotBoardCoordinates(dr);
Point destinationPosition = getRelativeCoordinate(currentPosition, dr.getHeading());
if (!isPointOnBoard(destinationPosition)) {
board[currentPosition.X, currentPosition.Y] = null;
robotIndex.Remove(dr);
simulatorWindow.log(dr.getName() + " fell off the board!");
} else if (isPositionEmpty(destinationPosition)) {
board[currentPosition.X, currentPosition.Y] = null;
board[destinationPosition.X, destinationPosition.Y] = dr;
}
}
private RobotEvent scan(DecoratedRobot dr)
{
Point thisRobotsCoordinates = getRobotBoardCoordinates(dr);
double closestRobotDistance = 999;
DecoratedRobot closestRobot = null;
double x = 999;
foreach (DecoratedRobot r in robotIndex) {
if (r == dr) continue;
if (closestRobot == null ||
(x = getPointDistance(getRobotBoardCoordinates(r),
getRobotBoardCoordinates(dr))) < closestRobotDistance) {
closestRobotDistance = x;
closestRobot = r;
}
}
return new RobotScanEvent(getSimpleDistance(getRobotBoardCoordinates(dr),
getRobotBoardCoordinates(closestRobot)));
}
private void removeRobotFromSimulation(DecoratedRobot dr)
{
for(int i=0;i<robotIndex.Count;i++) {
if (robotIndex[i] == dr) {
if (i <= currentRobot) {
currentRobot--;
}
}
}
Point p = getRobotBoardCoordinates(dr);
board[p.X, p.Y] = null;
robotIndex.Remove(dr);
}
private RobotLookEvent look(DecoratedRobot dr)
{
Point p = getRelativeCoordinate(getRobotBoardCoordinates(dr),dr.getHeading());
int distance = 1;
while (isPointOnBoard(p)) {
SimulationActor sa = board[p.X, p.Y];
if (sa == null) {
p = getRelativeCoordinate(p, dr.getHeading());
distance++;
continue;
}
switch (sa.getType()) {
case SimulationActor.Type.ROBOT:
return new RobotLookEvent(RobotLookEvent.ContactType.ROBOT, distance);
default:
return new RobotLookEvent(RobotLookEvent.ContactType.SOMETHING, distance);
}
}
return new RobotLookEvent(RobotLookEvent.ContactType.EDGE, distance);
}
private RobotKillEvent kill(DecoratedRobot dr)
{
Point p = getRelativeCoordinate(getRobotBoardCoordinates(dr), dr.getHeading());
SimulationActor target = board[p.X, p.Y];
if (target != null && (target.getType() == SimulationActor.Type.ROBOT)) {
DecoratedRobot victim = (DecoratedRobot)target;
removeRobotFromSimulation(victim);
simulatorWindow.log(dr.getName() + " killed " + victim.getName());
return new RobotKillEvent();
}
return null;
}
private Point getRobotBoardCoordinates(DecoratedRobot dr)
{
for(int x=0;x<16;x++)
for (int y = 0; y < 12; y++) {
if (board[x, y] == dr) return new Point(x,y);
}
throw new Exception("specified robot is not on the board");
}
