public AgentCutaway(AgentType agTy, Int32 ID, Coordinates pos_, AgentState state_)
{
type = agTy;
agentID = ID;
pos = pos_;
state = state_;
}
public static Segment randomSeg()
{
Coordinates beg = new Coordinates((float)randGen.NextDouble(), (float)randGen.NextDouble());
Coordinates end = (new Coordinates((float)randGen.NextDouble(), (float)randGen.NextDouble())).normalize();
end = (end * 0.1f) + beg;
return new Segment(beg, end);
}
public static bool segmentCircleIntersection(Segment seg, Coordinates center, float radius, ref Coordinates a, ref Coordinates b)
{
bool rez = false;
//shift segment
Segment newSeg = seg;
newSeg.beg = newSeg.beg - center;
newSeg.end = newSeg.end - center;
//vector
Coordinates newC = seg.end - seg.beg;
if (Math.Abs(newC.x) < float.Epsilon)
{
rez = segCirInt(1f, 0f, newSeg.beg.x, radius, ref a, ref b);
}
else
{
newC.x = newC.y/newC.x;
newC.y = (-1.0f);
float C = -(newC.x * newSeg.beg.x + newC.y * newSeg.beg.y);
rez = segCirInt(newC.x, newC.y,C, radius,ref a, ref b);
}
if (rez)
{
a = a + center;
b = b + center;
}
return rez;
}
public AgentInfo(Color colour_, float radius_, AgentType agType_,
Int32 ID_, AgentState state_, float communicateRad_,
Coordinates coord_, float speed_, float viewRadius_)
{
agentID = ID_;
agentColor = colour_;
agentRadius = radius_;
agentType = agType_;
agentState = state_;
communicteRadius = communicateRad_;
coord = coord_;
speed = speed_;
viewRadius = viewRadius_;
}
public static bool segCirInt(float A, float B, float C, float radius,
ref Coordinates first, ref Coordinates second)
{
float x0 = -A * C / (A * A + B * B), y0 = -B * C / (A * A + B * B);
if (C * C >= radius * radius * (A * A + B * B) + float.Epsilon)
{
return false;
}
else
{
float d = radius * radius - C * C / (A * A + B * B);
float mult = (float)Math.Sqrt(d / (A * A + B * B));
first.x = x0 + B * mult;
first.y = y0 - A * mult;
second.x = x0 - B * mult;
second.y = y0 + A * mult;
return true;
}
}
public mainForm()
{
InitializeComponent();
ViewRange.Checked = true;
board = new Board(ref Field,ref ViewRange, ref showMatrix);
Coordinates pos = new Coordinates(0.2f, 0.2f);
//bill1 = board.createDummy1();
AgentEnv bill2 = board.createFinder1();
AgentEnv nancy = board.createLittleGirl1();
//bill1.setCoord(pos);
bill2.setCoord(pos* 4.9f);
AgentEnv iggy;
nancy.setCoord(new Coordinates(0.49f, 0.51f));
//Console.WriteLine(pos.norm().ToString());
for (int i = 0; i < 5; i++)
{
//board.addWall(Segment.randomSeg());
iggy = board.createFinder1();
iggy.setCoord(new Coordinates(0.6f, 0.4f));
}
board.addWall(new Segment(0f, 0.5f, 0.3f, 0.5f));
board.addWall(new Segment(0.5f, 1f, 0.7f, 0.3f));
}
public void setCoord(Coordinates coord_)
{
info.coord.safeAssign(coord_.x, coord_.y);
}
private bool isPathLegal(Coordinates start, Coordinates finish)
{
//Checks if an agent can make step from start to finish postion
bool noWalls = !wallList.haveIntersections(new Segment(start, finish));
bool inRange = (finish.x < 1.0f && finish.x > 0.0f && finish.y < 1.0f && finish.y > 0.0f);
return noWalls && inRange;
}
public Segment(float begX, float begY, float endX, float endY)
{
beg = new Coordinates(begX, begY);
end = new Coordinates(endX, endY);
}
public Segment(Coordinates beg_, Coordinates end_)
{
beg = beg_;
end = end_;
}
//make step in direction 'vec', using 'speedPerc' of your speed
protected bool makeStep(Coordinates vec, float speedPerc)
{
return env.getBoard().askStep(vec, speedPerc, ref env);
}
private bool genAim()
{
aim = cells.getUndiscoveredCell();
return true; //TODO: Delete this comment
}
private void setAim(Coordinates coord)
{
aim = coord;
}
private static int compareByY(Coordinates a, Coordinates b)
{
if (a.y < b.y)
{
return -1;
}
else
{
return 1;
}
}
private static Segment middleSeg(Coordinates beg, Coordinates end, Coordinates a, Coordinates b)
{
//Возвращает отрезок образованный двумя средними точками из указанных трёх
List<Coordinates> list = new List<Coordinates>();
list.Add(beg);
list.Add(end);
list.Add(a);
list.Add(b);
if (Math.Abs(beg.x - end.x) < float.Epsilon)
{
list.Sort(compareByY);
}
else
{
list.Sort(compareByX);
}
return new Segment(list[1], list[2]);
}
private static int compareByX(Coordinates a, Coordinates b)
{
if (a.x < b.x)
{
return -1;
}
else
{
return 1;
}
}
public List<Wall> wallsAroundPoint(Coordinates center, float radius)
{
List<Wall> rez = new List<Wall>();
Coordinates a = new Coordinates();
Coordinates b = new Coordinates();
Segment deleteThis = new Segment();
foreach (Wall wall in list.Values)
{
if (segmentCircleIntersection(wall.seg, center, radius, ref a, ref b))
{
//rez.Add(new Wall(middleSeg(wall.seg.beg, wall.seg.end, a,b), wall.type));
deleteThis = middleSeg(wall.seg.beg, wall.seg.end, a, b);
rez.Add(new Wall(deleteThis,wall.type));
//Console.WriteLine("So");
//Console.WriteLine("Center: " + center.ToString() + ", Radius =" + radius.ToString());
//Console.WriteLine("Wall:" + wall.seg.ToString());
//Console.WriteLine("Result:" +);
}
}
return rez;
}
private bool workWithObjectsAround()
{
List<AgentCutaway> cuts = lookAround();
bool found = false;
bool communicate = false;
foreach (AgentCutaway cut in cuts)
{
if (cut.state == AgentState.Find_Me)
{
aim = cut.pos;
found = grabObject(cut.agentID);
return found;
}
else if (cut.type == AgentType.Finder && cellsUpdated)
{
sendCellMatrix(cut.agentID);
communicate = true;
}
}
if (communicate && cellsUpdated)
{
cellsUpdated = false;
}
return false;
}
bool canTouch1(Coordinates point, ref AgentEnv client)
{
//Checks if one agent is in proper distance to pick up another agent
Coordinates pos = client.getCoord();
return (isPathLegal(pos, point) && ((pos - point).norm() < touchDist));
}
bool IAgentFunctions.canTouch(Coordinates point, ref AgentEnv client)
{
//Check if the agent can grab object in specific point
return canTouch1(point, ref client);
}
private bool canSee(Coordinates start, Coordinates finish)
{
//Checks if there is line of sight between two points
bool noWalls = !wallList.haveIntersections(new Segment(start, finish));
bool inRange = finish.x < 1.0f && finish.x > 0.0f && finish.y < 1.0f && finish.y > 0.0f;
return noWalls && inRange;
}
protected bool canTouch(Coordinates pos)
{
return env.getBoard().canTouch(pos, ref env);
}
private void genAim()
{
Coordinates coord = new Coordinates((float)randGen.NextDouble(), (float)randGen.NextDouble());
setAim(coord);
}
public bool setCell(Coordinates coord)
{
Int16 x = (Int16)(coord.x * width);
Int16 y = (Int16)(coord.y * height);
return setCell(x, y);
}
public static float area(Coordinates a, Coordinates b, Coordinates c)
{
return (b.x - a.x) * (c.y - a.y) * (b.y - a.y) * (c.x - a.x);
}
bool IAgentFunctions.askStep(Coordinates direction, float speedPercent, ref AgentEnv client)
{
//Try to make step in specific direction. The length = max(speedPercent,1) * maxSpeed
Coordinates pos = client.getCoord(), des;
float perc = Math.Min(Math.Max(0.0f, speedPercent), 1.0f);
des = pos + (direction.normalize()) * (perc * client.getSpeed());
if (isPathLegal(pos, des))
{
client.setCoord(des);
return true;
}
else
{
return false;
}
}
