/// <summary>Creates a robot, which is placed at a given location with the room.</summary>
/// <param name="pt">Where the robot should be placed, in RoomPoint coordinates.</param>
void CreateRobot(RoomPoint pt)
{
// Do nothing if there's already a robot here
if (_roomCells[pt.X, pt.Y] != null)
{
return;
}
// Create the new robot
Robot robot = new Robot()
{
Location = pt,
Element = new Ellipse()
{
Width = 1.0 / ROOM_SIZE,
Height = 1.0 / ROOM_SIZE,
HorizontalAlignment = HorizontalAlignment.Left,
VerticalAlignment = VerticalAlignment.Top,
Fill = new SolidColorBrush(_nextColor)
}
};
// Set the position of the robot within Room
SetRobotElementPosition(robot, pt);
// Add the robot to Room
Room.Children.Add(robot.Element);
// Add the robot to our data structures
_robots.Add(robot);
_roomCells[pt.X, pt.Y] = robot;
// Advance _nextColor to the next color to use
MoveNextColor();
}
/// <summary>Performs one step of the simulation for one robot.</summary>
/// <param name="r">The robot to perform the simulation step for.</param>
void SimulateOneStep(Robot r)
{
// Set ptR to the location of the robot in room coordinates
RoomPoint ptR = r.Location;
double vectorX = 0, vectorY = 0;
foreach (Robot s in _robots)
{
if (r == s)
{
continue;
}
RoomPoint ptS = s.Location;
double inverseSquareDistance = 1.0 / RoomPoint.Square(ptR.DistanceTo(ptS));
double angle = ptR.AngleTo(ptS);
vectorX -= inverseSquareDistance * Math.Cos(angle);
vectorY -= inverseSquareDistance * Math.Sin(angle);
}
double degrees = Math.Atan2(vectorY, vectorX) * 180 / Math.PI;
degrees += 22.5;
while (degrees < 0)
{
degrees += 360;
}
while (degrees >= 360)
{
degrees -= 360;
}
int direction = (int)(degrees * 8 / 360);
if ((direction == 7) || (direction == 0) || (direction == 1))
{
ptR.X = Math.Min(ptR.X + 1, ROOM_SIZE - 1);
}
else if ((direction == 3) || (direction == 4) || (direction == 5))
{
ptR.X = Math.Max(ptR.X - 1, 0);
}
if ((direction == 1) || (direction == 2) || (direction == 3))
{
ptR.Y = Math.Min(ptR.Y + 1, ROOM_SIZE - 1);
}
else if ((direction == 5) || (direction == 6) || (direction == 7))
{
ptR.Y = Math.Max(ptR.Y - 1, 0);
}
if (((ptR.X != r.Location.X) || (ptR.Y != r.Location.Y)) && _roomCells[ptR.X, ptR.Y] == null)
{
_roomCells[r.Location.X, r.Location.Y] = null;
_roomCells[ptR.X, ptR.Y] = r;
r.Location = new RoomPoint(ptR.X, ptR.Y);
}
}
/// <summary>Sets the position of the Robot.Element for a given robot to a given point.</summary>
/// <param name="robot">The robot.</param>
/// <param name="pt">The location in RoomPoint coordinates.</param>
void SetRobotElementPosition(Robot robot, RoomPoint pt)
{
Canvas.SetLeft(robot.Element, ((double)pt.X) / ROOM_SIZE);
Canvas.SetTop(robot.Element, ((double)pt.Y) / ROOM_SIZE);
}
/// <summary>
/// Returns the angle from this point to another point, measured in clockwise radians from
/// the ray pointing to the right of this point.
/// </summary>
/// <param name="other">The other point.</param>
public double AngleTo(RoomPoint other)
{
return(Math.Atan2(other.Y - Y, other.X - X));
}
/// <summary>
/// Returns the distance from this point to another point.
/// </summary>
/// <param name="other">The other point.</param>
public double DistanceTo(RoomPoint other)
{
return(Math.Sqrt(Square(other.X - X) + Square(other.Y - Y)));
}
