private IntrestingObj FindClosestObj(IInheritanceTreeCollection <Geometry> MapObjects)
{
var objects = MapObjects.GetAll <IntrestingObj>();
IntrestingObj closest = objects[0];
foreach (IntrestingObj obj in objects)
{
if (obj.Distance(this) < closest.Distance(this))
{
closest = obj;
}
}
return(closest);
}
public void MoveToObj(IInheritanceTreeCollection <Geometry> MapObjects)
{
IntrestingObj closestObj = FindClosestObj(MapObjects);
if (IsStuck == 1)
{
Console.WriteLine("Я застрял, пытаюсь найти край рифа");
IsStuck = 2;
Coordinate reefDownLeftCoordinate = StuckedReef.Coordinates[1];
if (FindRelativeCoords(reefDownLeftCoordinate).Y < 0)
{
Y = StuckedReef.Coordinates[0].Y + 50000;
}
else
{
Y = reefDownLeftCoordinate.Y - 50000;
}
}
else if (IsStuck == 2)
{
Console.WriteLine("Край нашёл, теперь обхожу");
IsStuck = 0;
Coordinate reefDownLeftCoordinate = StuckedReef.Coordinates[1];
if (FindRelativeCoords(reefDownLeftCoordinate).X < 0)
{
X = StuckedReef.Coordinates[0].X - 22000;
}
else
{
X = reefDownLeftCoordinate.X + 22000;
}
StuckedReef = null;
}
else
{
if (closestObj.Distance(this) <= Speed / 5)
{
if (WaitingTime == 0)
{
X = closestObj.Coordinate.X;
Y = closestObj.Coordinate.Y;
}
else if (WaitingTime == 10)
{
MapObjects.Remove(closestObj);
WaitingTime = 0;
}
WaitingTime++;
}
Coordinate relativeCoord = FindRelativeCoords(closestObj.Coordinate);
double curSpeedX = Math.Abs(relativeCoord.X) > Speed ? Speed : Speed / 5;
double curSpeedY = Math.Abs(relativeCoord.Y) > Speed ? Speed : Speed / 5;
double nextX = X + curSpeedX * Math.Sign(relativeCoord.X);
double nextY = Y + curSpeedY * Math.Sign(relativeCoord.Y);
var nextCoord = new Coordinate(nextX, nextY);
Reef stuckedReef = CheckReefs(relativeCoord, MapObjects, nextCoord);
if (stuckedReef == null)
{
X += curSpeedX * Math.Sign(relativeCoord.X);
Y += curSpeedY * Math.Sign(relativeCoord.Y);
}
else
{
IsStuck = 1;
StuckedReef = stuckedReef;
}
}
}