/// <summary>
/// Tests if this AreaOfImpact collides with another cirle. Used for robot collision detection.
/// </summary>
/// <returns>Returns true if the circles collide; false otherwise.</returns>
public bool collide(Circle2D otherCircle2D)
{
double dx = otherCircle2D.Position.X - Position.X;
double dy = otherCircle2D.Position.Y - Position.Y;
dx*=dx;
dy*=dy;
double rad_sum = otherCircle2D.Radius+Radius;
rad_sum*=rad_sum;
if ((dx+dy)<rad_sum)
return true;
return false;
}
/// <summary>
/// Creates a new Circle2D object by copying another AreaOfImpact.
/// </summary>
public Circle2D(Circle2D otherCircle2D)
{
Position = otherCircle2D.Position;
Radius = otherCircle2D.Radius;
}
/// <summary>
/// Initialize the robot.
/// </summary>
public void init(int id, double locationX, double locationY, double heading, AgentBrain agentBrain, Environment environment, float sensorNoise, float effectorNoise, float headingNoise, float timeStep)
{
this.ID = id;
Radius = defaultRobotSize();
Location = new Point2D(locationX, locationY);
AreaOfImpact = new Circle2D(Location, Radius);
OldLocation = new Point2D(Location);
Heading = heading;
Velocity = 0.0;
HasCollided = false;
this.Timestep = timeStep;
this.CurrentEnvironment = environment;
this.Brain = agentBrain;
this.SensorNoise = sensorNoise;
this.EffectorNoise = effectorNoise;
this.HeadingNoise = headingNoise;
populateSensors();
if (environment.seed != -1)
rng = environment.rng;
else
rng = environment.rng;
this.Trajectory = new List<int>();
}
/// <summary>
/// Creates a new Circle2D object by copying another AreaOfImpact.
/// </summary>
public Circle2D(Circle2D otherCircle2D)
{
Position=otherCircle2D.Position;
Radius=otherCircle2D.Radius;
}
/// <summary>
/// Calculates the nearest intersection of the line segment with a given AreaOfImpact. (The line segment is interpreted as a ray going from its first endpoint to its second one.
/// </summary>
/// <param name="C">Circle that is supposed to intersect with the line segment.</param>
/// <param name="found">**Output parameter**, will return false if no intersection exists.</param>
public double nearestIntersection(Circle2D circle,out bool found)
{
double dx,dy;
dx=Endpoint2.X-Endpoint1.X;
dy=Endpoint2.Y-Endpoint1.Y;
double px=Endpoint1.X-circle.Position.X;
double py=Endpoint1.Y-circle.Position.Y;
double a= dx*dx + dy*dy;
double b= 2*px*dx+2*py*dy;
double c= px*px + py*py - circle.Radius*circle.Radius;
double det = b*b-4.0*a*c;
if(det<0.0)
{
found=false;
return -1.0;
}
double sqrt_det = Math.Sqrt(det);
double t1 = (-b+sqrt_det)/(2*a);
double t2 = (-b-sqrt_det)/(2*a);
found=false;
double t=0.0;
if(t2<0)
{
if(t1>0)
{
found=true;
t=t1;
}
}
else
{
found=true;
t=t2;
}
if(!found)
return -1.0;
return t*Math.Sqrt(dx*dx+dy*dy);
}
