/// <summary>
/// Sets the value of the byte in position <c>v3ToIndx(v)</c>
/// </summary>
/// <param name="v"></param>
/// <param name="val"></param>
/// <returns>Returns TRUE if the value has been changed, FALSE otherwise</returns>
public bool setValue(Vector3 v, byte val)
{
indx i = v3ToIndx(v);
if (dataArray[i.x, i.z] != val && dataArray[i.x, i.z] != 1)
{
if (val == 1)
{
dirtyValues.AddLast(i);
}
dataArray[i.x, i.z] = val;
return(true);
}
return(false);
}
/// <summary>
/// Each drone has to call this function to obtain a ticket used for updating their position in the drawer
/// <para>The first drone that calls this function determine the zeroPointPosition</para>
/// </summary>
/// <param name="dronePosition">The actual position of the drone</param>
/// <returns>Returns a ticket that will be used for updating the position</returns>
public int initialize(Vector3 dronePosition)
{
if (!initialized)
{
// the first drone that register itself determine the zeroPointPosition, that correspond to the center of the map
dronesPositions = new indx[10];
indx actualPosition = new indx(dataMaxSize / 2, dataMaxSize / 2);
data = new Data(dataMaxSize, maxExplorableDistance, dronePosition, actualPosition);
dW.setData(data);
initialized = true;
}
// other drones just takes a ticket to actualize their position
dronesPositions[ticket] = new indx(dronePosition);
return(ticket++);
}
/// <summary>
/// Constructor
/// <para>Associates 'Vector3 zeroPoint' to 'Indx zeroPointInData' </para>
/// </summary>
/// <param name="dataArraySize">Size of the matrix</param>
/// <param name="maxExplorableDistance">Size of the area we can explore</param>
/// <param name="zeroPoint">Initial point represented by world-coordinates </param>
/// <param name="zeroPointInData">Initial point represented by an indx</param>
public Data(int dataArraySize, float maxExplorableDistance, Vector3 zeroPoint, indx zeroPointInData)
{
dirtyValues = new LinkedList <indx>();
arraySize = dataArraySize;
dataArray = new byte[dataArraySize, dataArraySize];
for (int i = 0; i < dataArraySize; i++)
{
for (int j = 0; j < dataArraySize; j++)
{
dataArray[i, j] = 2;
}
}
this.zeroPoint = zeroPoint;
this.zeroPointInData = zeroPointInData;
this.maxExplorableDistance = maxExplorableDistance;
}
/// <summary>
/// Returns true if there are no walls or unknown cells in the square with center 'v' and specified radius
/// </summary>
/// <param name="v">Center taken in consideration to explore if the cells are all free</param>
/// <param name="radius">Radius of the search</param>
/// <returns>0 -> areAllFree; 1 -> there are walls; 2 -> no walls but unknown cells</returns>
public int areAllFree(Vector3 v, int radius)
{
bool thereAreUnknown = false;
indx center = v3ToIndx(v);
for (int i = center.x - radius / 2; i <= center.x + radius / 2; i++)
{
for (int j = center.z - radius / 2; j <= center.z + radius / 2; j++)
{
if (dataArray[i, j] == 1)
{
return(1);
}
else if (dataArray[i, j] == 2)
{
thereAreUnknown = true;
}
}
}
return(thereAreUnknown ? 2 : 0);
}
/// <summary>
/// Subtraction of Indxs
/// </summary>
/// <param name="i">Other Indx we'll subtract to this</param>
/// <returns>Returns the indx resulting from the subtraction of the Indx passed as argument to the this Indx</returns>
public indx subtract(indx i)
{
return(new indx(x - i.x, z - i.z));
}
/// <summary>
/// Sum of Indxs
/// </summary>
/// <param name="i">Other Indx we'll sum to this</param>
/// <returns>Returns the indx resulting from the sum of the current Indx and the one passed as argument</returns>
public indx add(indx i)
{
return(new indx(x + i.x, z + i.z));
}
/// <summary>
/// Gets the value in the matrix, corresponding to the real-world coordinates specified by the Vector3
/// </summary>
/// <param name="v">Vector3 specifying the real-world coordinates of the point we are interested</param>
/// <returns>Returns the value in the matrix at position <c>v3ToIndx(v)</c></returns>
public int getValue(Vector3 v)
{
indx i = v3ToIndx(v); return(getValue(i.x, i.z));
}
/// <summary>
/// Converts the Indx in the matrix to a real-world coordinate
/// </summary>
/// <param name="i">Indx we want to convert</param>
public Vector3 indxToV3(indx i)
{
return(i.subtract(zeroPointInData).multiplyFloat(maxExplorableDistance / arraySize) + zeroPoint);
}
/// <summary>
/// Returns true if the two objects are equals
/// </summary>
public static bool Equals(indx i1, indx i2)
{
return(i1.x == i2.x && i1.z == i2.z);
}
