public bool CheckCollision(Robot robot, SegmentsIntersector segmentsIntersector)
{
Line firstLine = robot.GetLines()[0];
Line secondLine = robot.GetLines()[1];
bool sentinel = false;
foreach (var extendedRectangle in Colliders)
{
foreach (var line in extendedRectangle.GetLines())
{
bool intersectionWithFirst = segmentsIntersector.Intersect(firstLine, line);
bool intersectionWithSecond = segmentsIntersector.Intersect(secondLine, line);
if (intersectionWithFirst || intersectionWithSecond)
{
sentinel = true;
break;
}
}
if (sentinel)
{
break;
}
}
if (sentinel)
{
return(true);
}
return(false);
}
public bool CheckCollision(Robot robot, SegmentsIntersector segmentsIntersector)
{
Line firstLine = robot.GetLines()[0];
Line secondLine = robot.GetLines()[1];
bool sentinel = false;
foreach (var extendedRectangle in Colliders)
{
foreach (var line in extendedRectangle.GetLines())
{
bool intersectionWithFirst = segmentsIntersector.Intersect(firstLine, line);
bool intersectionWithSecond = segmentsIntersector.Intersect(secondLine, line);
if (intersectionWithFirst || intersectionWithSecond)
{
sentinel = true;
break;
}
}
if (sentinel)
{
break;
}
}
if (sentinel)
{
return true;
}
return false;
}
public void GenerateAnglesArray(Robot robot, Canvas Canvas, SegmentsIntersector segmentsIntersector)
{
int positiveCounter = 0;
for (int i = 0; i < maxAngle; i++)
{
for (int j = 0; j < maxAngle; j++)
{
robot.UpdateAngles(i, j);
robot.Reset(Canvas);
Line firstLine = robot.GetLines()[0];
Line secondLine = robot.GetLines()[1];
bool sentinel = false;
foreach (var extendedRectangle in Colliders)
{
foreach (var line in extendedRectangle.GetLines())
{
bool intersectionWithFirst = segmentsIntersector.Intersect(firstLine, line);
bool intersectionWithSecond = segmentsIntersector.Intersect(secondLine, line);
if (intersectionWithFirst || intersectionWithSecond)
{
sentinel = true;
break;
}
}
if (sentinel)
{
break;
}
}
if (sentinel)
{
anglesArray[i, j] = false;
}
else
{
anglesArray[i, j] = true;
positiveCounter++;
if (i % 4 == 0 && j % 2 == 0)
{
//firstLine.Stroke = new SolidColorBrush() {Color = Color.FromArgb(50, 0, 255, 0)};
secondLine.Stroke = new SolidColorBrush()
{
Color = Color.FromArgb(50, 0, 0, 200)
};
//lineContainer.Add(firstLine);
secondLine.X1 = secondLine.X2 - 1;
secondLine.Y1 = secondLine.Y2 - 1;
lineContainer.Add(secondLine);
Canvas.Children.Add(secondLine);
}
}
}
}
int d = 10;
}
private void CheckIntersections()
{
Line l1 = new Line();
l1.StrokeThickness = 3;
l1.Stroke = Brushes.Blue;
l1.X1 = 20;
l1.Y1 = 20;
l1.X2 = 300;
l1.Y2 = 350;
Line l2 = new Line();
l2.X1 = 20;
l2.Y1 = 0;
l2.X2 = 0;
l2.Y2 = 20;
//Canvas.Children.Add(l1);
if (colliderContainer == null)
{
return;
}
foreach (var extendedRectangle in colliderContainer.Colliders)
{
foreach (var line in extendedRectangle.GetLines())
{
bool res = segmentsIntersector.Intersect(l1, line);
if (res)
{
Line l = new Line();
l.StrokeThickness = 3;
l.Stroke = Brushes.Red;
l.X1 = line.X1;
l.Y1 = line.Y1;
l.X2 = line.X2;
l.Y2 = line.Y2;
dragCanvas.Children.Add(l);
}
}
}
}
public void GenerateAnglesArray(Robot robot, Canvas Canvas, SegmentsIntersector segmentsIntersector)
{
int positiveCounter = 0;
for (int i = 0; i < maxAngle; i++)
for (int j = 0; j < maxAngle; j++)
{
robot.UpdateAngles(i, j);
robot.Reset(Canvas);
Line firstLine = robot.GetLines()[0];
Line secondLine = robot.GetLines()[1];
bool sentinel = false;
foreach (var extendedRectangle in Colliders)
{
foreach (var line in extendedRectangle.GetLines())
{
bool intersectionWithFirst = segmentsIntersector.Intersect(firstLine, line);
bool intersectionWithSecond = segmentsIntersector.Intersect(secondLine, line);
if (intersectionWithFirst || intersectionWithSecond)
{
sentinel = true;
break;
}
}
if (sentinel)
{
break;
}
}
if (sentinel)
{
anglesArray[i, j] = false;
}
else
{
anglesArray[i, j] = true;
positiveCounter++;
if (i%4 == 0 && j % 2 == 0)
{
//firstLine.Stroke = new SolidColorBrush() {Color = Color.FromArgb(50, 0, 255, 0)};
secondLine.Stroke = new SolidColorBrush() {Color = Color.FromArgb(50, 0, 0, 200)};
//lineContainer.Add(firstLine);
secondLine.X1 = secondLine.X2 - 1;
secondLine.Y1 = secondLine.Y2 - 1;
lineContainer.Add(secondLine);
Canvas.Children.Add(secondLine);
}
}
}
int d = 10;
}
