public void calcPoints()
{
points = new Vector[rads.Length];
for (int i = 0; i < rads.Length; ++i)
{
points[i] = Vector.fromRadMag(rads[i], Abs(dists[i]));
}
}
/// <summary>
/// Scan one wall.
/// </summary>
private ScanResult _ScanWall(Wall wall, double[] rads)
{
ScanResult res = ScanResult.init(rads, range + 1);
var egopos = ego.pos;
var castTry = new CircleCast(egopos, 0, margin);
var hitTry = castTry.CastTo(wall);
// currently in collision
if (hitTry.isOriginHit)
{
res.isCollision = true;
var dist2wall = wall.DistToPoint_TruncatedByEnds(egopos);
var colSeverity = Max(0, margin + wall.margin - dist2wall) / margin;
for (int i = 0; i < rads.Length; ++i)
{
var rad = rads[i];
var repulsionDir = wall.RepulsionDirToPoint(egopos);
if (useSafety)
{
res.safety[i] = Cos(AbsRad(rads[i] - repulsionDir.rad)) * (1 + colSeverity);
}
else
{
var dist = Max(0.1, Vector.fromRadMag(rad, 1) * repulsionDir * 100);
res.dists[i] = dist;
}
}
}
// not in collision
else
{
for (int i = 0; i < rads.Length; ++i)
{
var rad = rads[i];
var cast = new CircleCast(egopos, rad, margin);
var hit = cast.CastTo(wall);
// No hit
if (!hit.isHit)
{
continue;
}
// Hit
var dist = hit.dist;
if (dist < res.dists[i])
{
res.dists[i] = dist;
}
}
}
return(res);
}
protected void UpdateProperty()
{
rad = Deg2Rad(deg);
dir = Vector.fromRadMag(rad, 1);
pos = new Vector(x, y);
}
