public static Point2D FindTargetPosition(this Hartho_DuelBot robot, ScannedRobotEvent e)
{
var angle = robot.HeadingRadians + e.BearingRadians;
//TODO this takes a lot of negatives. Find out what's going on.
return(new Point2D(robot.PositionVector - Vector2DHelpers.VectorFromAngle(-angle - Math.PI / 2, e.Distance)));
}
private void InitializeStates(Hartho_DuelBot robot)
{
_states = FindStatesByReflection();
foreach (var state in _states)
{
state.Initialize(robot);
}
}
/// <summary>
/// Method to draw the battlefield bounds (i.e. the battlefield bounds - robot radius/2).
/// </summary>
public static void DrawBattlefieldEffectiveBounds(this Hartho_DuelBot robot, Color drawColor)
{
// Set color to a semi-transparent one.
var halfTransparent = Color.FromArgb(160, drawColor);
// Draw outlines of the field.
robot.Graphics.DrawLine(new Pen(halfTransparent), (int)robot.Battlefield.TopLeft.X, (int)robot.Battlefield.TopLeft.Y, (int)robot.Battlefield.TopRight.X, (int)robot.Battlefield.TopRight.Y);
robot.Graphics.DrawLine(new Pen(halfTransparent), (int)robot.Battlefield.TopLeft.X, (int)robot.Battlefield.TopLeft.Y, (int)robot.Battlefield.BottomLeft.X, (int)robot.Battlefield.BottomLeft.Y);
robot.Graphics.DrawLine(new Pen(halfTransparent), (int)robot.Battlefield.BottomLeft.X, (int)robot.Battlefield.BottomLeft.Y, (int)robot.Battlefield.BottomRight.X, (int)robot.Battlefield.BottomRight.Y);
robot.Graphics.DrawLine(new Pen(halfTransparent), (int)robot.Battlefield.BottomRight.X, (int)robot.Battlefield.BottomRight.Y, (int)robot.Battlefield.TopRight.X, (int)robot.Battlefield.TopRight.Y);
}
public StateManager(Hartho_DuelBot robot)
{
InitializeStates(robot);
_stateQueue = new Queue <State>();
}
public WallAvoidance(Hartho_DuelBot robot)
{
Robot = robot;
Battlefield = Robot.Battlefield;
}
public static Vector2D ForwardVector(this Hartho_DuelBot robot, double offset = 0, double length = 1)
{
var angle = -robot.HeadingRadians + offset;
return(DirectionVector(robot, angle, robot.MoveDirection, length));
}
/// <summary>
/// Returns a vector in the desired direction, or straight forward if unspecified. The use of nullable types
/// is for simplicity and being able to set default values.
/// </summary>
/// <param name="angle">The angle to turn. Defaults to null, which is converted to robot's ahead.</param>
/// <param name="direction">Whether to cast the vector forwards or backwards. Default is the robot's direction</param>
/// <param name="length">How long the vector should be</param>
/// <returns>The vector</returns>
public static Vector2D DirectionVector(this Hartho_DuelBot robot, double angle, Direction?direction = null, double length = 1)
{
direction = direction ?? robot.MoveDirection;
return(robot.PositionVector + Vector2DHelpers.VectorFromAngle(angle + HalfPi) * length *
(int)direction.Value);
}
public void Initialize(Hartho_DuelBot robot)
{
Robot = robot;
InitializeFields();
SpinRadar();
}
