private void SpawnShadow(CartesianArray<MapElementStatus> viewport, Point point, Area area, MapElementStatus elementType, double ratio, Modifiers modifier, bool increaseX)
{
int xdistance = 0;
int ydistance = 0;
bool first = true;
var curentPoint = new Point(point.X + xdistance, point.Y + ydistance);
Point lastPoint = null;
do
{
viewport[curentPoint] =
first ? elementType :
(viewport[curentPoint] == MapElementStatus.Undiscovered ? MapElementStatus.Shadowed: viewport[curentPoint] );
first = false;
if (increaseX)
{
xdistance += modifier.X;
ydistance = Convert.ToInt32(Math.Floor(ratio * xdistance * modifier.X * modifier.Y));
}
else
{
ydistance += modifier.Y;
xdistance = Convert.ToInt32(Math.Floor(ratio * ydistance * modifier.X * modifier.Y));
}
lastPoint = curentPoint;
curentPoint = new Point(point.X + xdistance, point.Y + ydistance);
if (Math.Abs(lastPoint.X - curentPoint.X) > 1 || Math.Abs(lastPoint.Y -curentPoint.Y) > 1)
{
}
} while (IsInbound(curentPoint, area));
}
private static bool IsInbound(Point point, Area area)
{
return (point.X > area.LeftEdge && point.X < area.RightEdge)
&& (point.Y > area.BottomEdge && point.Y < area.TopEdge);
}
private void SpawnShadow(CartesianArray<MapElementStatus> viewport, Point point, Area area, MapElementStatus elementType)
{
bool increaseX = Math.Abs(point.X) > Math.Abs(point.Y);
double ratio = 0.0;
var modifier = new Modifiers(point.X > 0 ? 1 : -1, point.Y > 0 ? 1 : -1);
if (point.X != 0 && point.Y != 0)
{
double x = Math.Abs(point.X);
double y = Math.Abs(point.Y);
ratio = Math.Abs(increaseX ? y / x : x / y);
}
SpawnShadow(viewport, point, area, elementType, ratio, modifier, increaseX);
}
private void SpawnShadow(CartesianArray<MapElementStatus> viewport, Point point, Area area, double direction)
{
double ratio = GetYRatio(direction);
bool increaseX = Math.Abs(ratio) < 1;
var modifier = GetModifiersForDirection(direction);
ratio = Math.Abs(increaseX ? ratio : 1/ratio);
SpawnShadow(viewport, point, area, MapElementStatus.Shadowed, ratio, modifier, increaseX);
}
private void HandlePoint(Queue<Point> queue, CartesianArray<MapElementStatus> viewport, Point point, Area area)
{
if (viewport[point] == MapElementStatus.Undiscovered)
{
queue.Enqueue(point);
viewport[point] = MapElementStatus.Discovered;
}
if (viewport[point] == MapElementStatus.Blocked || viewport[point] == MapElementStatus.Target)
{
SpawnShadow(viewport, point, area, GetStatusToSpawnFor(viewport[point]));
}
}
public CartesianArray<MapElementStatus> GetView()
{
var currentViewPort = GetRobotCenteredMapCopy(Robot, BaseArea.Value);
Area area = new Area(
topEdge: currentViewPort.TopRightCoordinate.Y + 1,
rightEdge: currentViewPort.TopRightCoordinate.X,
bottomEdge: currentViewPort.BottomLeftCoordinate.Y,
leftEdge: currentViewPort.BottomLeftCoordinate.X - 1);
SetSensorAngleBoundaries(map: currentViewPort, area: area);
Queue<Point> pointQueue = new Queue<Point>();
pointQueue.Enqueue(GetStartPoint(Robot.CartasianDirection));
while(pointQueue.Count > 0)
{
Point curPoint = pointQueue.Dequeue();
Point topPoint = new Point(curPoint.X, curPoint.Y + 1);
Point rightPoint = new Point(curPoint.X + 1, curPoint.Y);
Point bottomPoint = new Point(curPoint.X, curPoint.Y - 1);
Point leftPoint = new Point(curPoint.X - 1, curPoint.Y);
if (IsInbound(bottomPoint, area))
{
HandlePoint(pointQueue, currentViewPort, bottomPoint, area);
}
if (IsInbound(topPoint, area))
{
HandlePoint(pointQueue, currentViewPort, topPoint, area);
}
if (IsInbound(rightPoint, area))
{
HandlePoint(pointQueue, currentViewPort, rightPoint, area);
}
if (IsInbound(leftPoint, area))
{
HandlePoint(pointQueue, currentViewPort, leftPoint, area);
}
}
return currentViewPort;
}
private void SetSensorAngleBoundaries(CartesianArray<MapElementStatus> map, Area area)
{
SpawnShadow(map, new Point(0, 0), area, (Robot.CartasianDirection + (Sight.Angle / 2)) % 360);
SpawnShadow(map, new Point(0, 0), area, (Robot.CartasianDirection - (Sight.Angle / 2)) % 360);
}
