public static void BotForecast(IGraphics graphics, double X, double Y, double Heading, double Velocity, int Turns)
{
BotPosition bot = new BotPosition(X, Y, Heading, Velocity);
BotPosition[][] moves = BotPosition.AllMoves(bot, Turns);
foreach (BotPosition[] path in moves)
{
int i = 0;
//float LastX = (float)X;
//float LastY = (float)Y;
foreach (BotPosition b in path)
{
if (i++ % 4 == Turns % 4)
//if (i++ % 5 == Turns % 5 && Turns/i < 2)
{
BotDot(graphics, b.Location.X, b.Location.Y);
//BotBox(graphics, new Pen(Color.FromArgb(100, 255, 255, 0)), b.Location.X, b.Location.Y, b.Heading);
//graphics.DrawRectangle(new Pen(Color.FromArgb(100, 255, 255, 0)), b.Location.X - 18, b.Location.Y - 18, 36, 36);
//graphics.DrawLine(new Pen(Color.FromArgb(100, 255, 255, 0)), LastX, LastY, (float)b.Location.X, (float)b.Location.Y);
//LastX = (float)b.Location.X;
//LastY = (float)b.Location.Y;
}
}
}
}
public static void BotForecast(IGraphics graphics, double X, double Y, double Heading, double Velocity, int Turns)
{
BotPosition bot = new BotPosition(X, Y, Heading, Velocity);
BotPosition[][] moves = BotPosition.AllMoves(bot, Turns);
foreach (BotPosition[] path in moves)
{
int i = 0;
//float LastX = (float)X;
//float LastY = (float)Y;
foreach (BotPosition b in path)
{
if (i++ % 4 == Turns % 4)
//if (i++ % 5 == Turns % 5 && Turns/i < 2)
{
BotDot(graphics, b.Location.X, b.Location.Y);
//BotBox(graphics, new Pen(Color.FromArgb(100, 255, 255, 0)), b.Location.X, b.Location.Y, b.Heading);
//graphics.DrawRectangle(new Pen(Color.FromArgb(100, 255, 255, 0)), b.Location.X - 18, b.Location.Y - 18, 36, 36);
//graphics.DrawLine(new Pen(Color.FromArgb(100, 255, 255, 0)), LastX, LastY, (float)b.Location.X, (float)b.Location.Y);
//LastX = (float)b.Location.X;
//LastY = (float)b.Location.Y;
}
}
}
}
public static BotPosition[][] AllMoves(BotPosition bot, int turns)
{
List<BotPosition[]> moves = new List<BotPosition[]>();
moves.Add(BotPosition.Move(bot, Motion.Accelerate, Turn.TurnLeft, turns));
moves.Add(BotPosition.Move(bot, Motion.Accelerate, Turn.Straight, turns));
moves.Add(BotPosition.Move(bot, Motion.Accelerate, Turn.TurnRight, turns));
//moves.Add(BotPosition.Move(bot, Motion.Coast, Turn.TurnLeft, turns));
//moves.Add(BotPosition.Move(bot, Motion.Coast, Turn.Straight, turns));
//moves.Add(BotPosition.Move(bot, Motion.Coast, Turn.TurnRight, turns));
moves.Add(BotPosition.Move(bot, Motion.Reverse, Turn.TurnLeft, turns));
moves.Add(BotPosition.Move(bot, Motion.Reverse, Turn.Straight, turns));
moves.Add(BotPosition.Move(bot, Motion.Reverse, Turn.TurnRight, turns));
return moves.ToArray();
}
public static BotPosition[][] AllMoves(BotPosition bot, int turns)
{
List <BotPosition[]> moves = new List <BotPosition[]>();
moves.Add(BotPosition.Move(bot, Motion.Accelerate, Turn.TurnLeft, turns));
moves.Add(BotPosition.Move(bot, Motion.Accelerate, Turn.Straight, turns));
moves.Add(BotPosition.Move(bot, Motion.Accelerate, Turn.TurnRight, turns));
//moves.Add(BotPosition.Move(bot, Motion.Coast, Turn.TurnLeft, turns));
//moves.Add(BotPosition.Move(bot, Motion.Coast, Turn.Straight, turns));
//moves.Add(BotPosition.Move(bot, Motion.Coast, Turn.TurnRight, turns));
moves.Add(BotPosition.Move(bot, Motion.Reverse, Turn.TurnLeft, turns));
moves.Add(BotPosition.Move(bot, Motion.Reverse, Turn.Straight, turns));
moves.Add(BotPosition.Move(bot, Motion.Reverse, Turn.TurnRight, turns));
return(moves.ToArray());
}
public static BotPosition[] Move(BotPosition bot, Motion motion, Turn turn, int turns)
{
List <BotPosition> moves = new List <BotPosition>(turns);
if (turns > 1)
{
var arr = BotPosition.Move(bot, motion, turn, turns - 1);
moves.AddRange(arr);
bot = arr[turns - 2];
}
double velocity = bot.Velocity;
double heading = bot.Heading;
switch (motion)
{
case Motion.Reverse:
if (velocity >= Rules.DECELERATION)
{
velocity = velocity - Rules.DECELERATION;
}
else if (velocity > 0)
{
velocity = 0;
}
else if (velocity * -1 + Rules.ACCELERATION >= Rules.MAX_VELOCITY)
{
velocity = -1 * Rules.MAX_VELOCITY;
}
else
{
velocity = velocity - Rules.ACCELERATION;
}
break;
case Motion.Accelerate:
if (velocity + Rules.ACCELERATION >= Rules.MAX_VELOCITY)
{
velocity = Rules.MAX_VELOCITY;
}
else
{
velocity = velocity + Rules.ACCELERATION;
}
break;
}
switch (turn)
{
case Turn.TurnLeft:
if (motion == Motion.Reverse)
{
heading = heading + Rules.GetTurnRate(Math.Abs(velocity));
}
else
{
heading = heading - Rules.GetTurnRate(Math.Abs(velocity));
}
break;
case Turn.TurnRight:
if (motion == Motion.Reverse)
{
heading = heading - Rules.GetTurnRate(Math.Abs(velocity));
}
else
{
heading = heading + Rules.GetTurnRate(Math.Abs(velocity));
}
break;
}
moves.Add(new BotPosition(bot.Location.VectorProjection(heading, velocity), heading, velocity));
return(moves.ToArray());
}
public static BotPosition[] Move(BotPosition bot, Motion motion, Turn turn)
{
return(BotPosition.Move(bot, motion, turn, 1));
}
public static BotPosition[][] AllMoves(BotPosition bot)
{
return(BotPosition.AllMoves(bot, 1));
}
public static BotPosition[] Move(BotPosition bot, Motion motion, Turn turn, int turns)
{
List<BotPosition> moves = new List<BotPosition>(turns);
if (turns > 1)
{
var arr = BotPosition.Move(bot, motion, turn, turns - 1);
moves.AddRange(arr);
bot = arr[turns - 2];
}
double velocity = bot.Velocity;
double heading = bot.Heading;
switch (motion)
{
case Motion.Reverse:
if (velocity >= Rules.DECELERATION)
{
velocity = velocity - Rules.DECELERATION;
}
else if (velocity > 0)
{
velocity = 0;
}
else if (velocity * -1 + Rules.ACCELERATION >= Rules.MAX_VELOCITY)
{
velocity = -1 * Rules.MAX_VELOCITY;
}
else
{
velocity = velocity - Rules.ACCELERATION;
}
break;
case Motion.Accelerate:
if (velocity + Rules.ACCELERATION >= Rules.MAX_VELOCITY)
{
velocity = Rules.MAX_VELOCITY;
}
else
{
velocity = velocity + Rules.ACCELERATION;
}
break;
}
switch (turn)
{
case Turn.TurnLeft:
if (motion == Motion.Reverse)
{
heading = heading + Rules.GetTurnRate(Math.Abs(velocity));
}
else
{
heading = heading - Rules.GetTurnRate(Math.Abs(velocity));
}
break;
case Turn.TurnRight:
if (motion == Motion.Reverse)
{
heading = heading - Rules.GetTurnRate(Math.Abs(velocity));
}
else
{
heading = heading + Rules.GetTurnRate(Math.Abs(velocity));
}
break;
}
moves.Add(new BotPosition(bot.Location.VectorProjection(heading, velocity), heading, velocity));
return moves.ToArray();
}
public static BotPosition[] Move(BotPosition bot, Motion motion, Turn turn)
{
return BotPosition.Move(bot, motion, turn, 1);
}
public static BotPosition[][] AllMoves(BotPosition bot)
{
return BotPosition.AllMoves(bot, 1);
}
