public bool fillNodeWithVehicle(VehiclePos vehicle, TreeNode node)// should MARK that node as full and as a vehicle
{
node.setDirection(vehicle.direction);
node.setIsWall(false);
//node.setLength(Board.vehicleLength);
node.setPlayerId(vehicle.playerId);
node.setPosition(new Position(vehicle.pos.x, vehicle.pos.y));
//node.setWidth(Board.vehicleWidth);
node.isEmpty = false;
node.setRadius(vehicle.radius);
return(false);
}
public bool detectCollision2(VehiclePos vehicle, TreeNode node)
{
// TODO the math and collision tolerance checks
double distance = Math.Sqrt(Math.Pow(node.getPosition().y - vehicle.pos.y, 2) + Math.Pow(node.getPosition().x - vehicle.pos.x, 2));
if (!(distance > (vehicle.radius + node.getRadius())))
{
Debug.WriteLine("COLLISION");
return(true);
}
double x1, x2, x3, x4, y1, y2, y3, y4;
x1 = vehicle.pos.x - 25 * Math.Cos(vehicle.direction);
x2 = vehicle.pos.x + 25 * Math.Cos(vehicle.direction);
y1 = vehicle.pos.y - 25 * Math.Sin(vehicle.direction);
y2 = vehicle.pos.y + 25 * Math.Sin(vehicle.direction);
x3 = node.getPosition().x - 25 * Math.Cos(node.getDirection());
x4 = node.getPosition().x + 25 * Math.Cos(node.getDirection());
y3 = node.getPosition().y - 25 * Math.Sin(node.getDirection());
y4 = node.getPosition().y + 25 * Math.Sin(node.getDirection());
if (((x1 - x2) * (y3 - y4) - (y1 - y2) * (x3 - x4)) == 0 || ((x1 - x2) * (y3 - y4) - (y1 - y2) * (x3 - x4)) == 0)
{
return(false);
}
double x = ((x1 * y2 - y1 * x2) * (x3 - x4) - (x1 - x2) * (x3 * y4 - y3 * x4)) / ((x1 - x2) * (y3 - y4) - (y1 - y2) * (x3 - x4));
double y = ((x1 * y2 - y1 * x2) * (y3 - y4) - (y1 - y2) * (x3 * y4 - y3 * x4)) / ((x1 - x2) * (y3 - y4) - (y1 - y2) * (x3 - x4));
if (x1 >= x2)
{
if (!(x2 <= x && x <= x1))
{
return(false);
}
}
else
{
if (!(x1 <= x && x <= x2))
{
return(false);
}
}
if (y1 >= y2)
{
if (!(y2 <= y && y <= y1))
{
return(false);
}
}
else
{
if (!(y1 <= y && y <= y2))
{
return(false);
}
}
if (x3 >= x4)
{
if (!(x4 <= x && x <= x3))
{
return(false);
}
}
else
{
if (!(x3 <= x && x <= x4))
{
return(false);
}
}
if (y3 >= y4)
{
if (!(y4 <= y && y <= y3))
{
return(false);
}
}
else
{
if (!(y3 <= y && y <= y4))
{
return(false);
}
}
Debug.WriteLine("COLLISION");
return(true);
}
/// <summary>
/// Let's update the QuadTree data structure with our new vehicle data.
/// </summary>
/// <param name="vehicle"></param>
/// <param name="startNode"></param>
/// <returns></returns>
public bool insertVehicle(VehiclePos vehicle, TreeNode startNode)
{
//FIRST must remove vehicle's previous position from the QuadTree
if (vehicle.prevPos != null)
{
TreeNode tempNode = null;
tempNode = findNode(vehicle.prevPos, root);
emptyNode(tempNode);
if (tempNode.hasChildren())
{
cleanupLeaves(tempNode.getParent());
}
}
// Next, insert the vehicle into the tree
if (vehicle.pos.x < 0 || vehicle.pos.x > 5000 || vehicle.pos.y < 0 || vehicle.pos.y > 5000)
{
destroyVehicle(vehicle.playerId);
}
else
{
startNode = findNode(vehicle.pos, startNode);
if (startNode.isEmpty == false) // check for collision
{
if (detectCollision2(vehicle, startNode) == true) // TODO check to see if collision is within tolerance
{
if (startNode.getIsWall() == true) // we need to know if it's a vehicle collision or not
{
Debug.WriteLine("Wall destroys playerrr!");
destroyVehicle(vehicle.playerId);
}
else
{
destroyVehicle(vehicle.playerId);
destroyVehicle(startNode.getPlayerId());
emptyNode(startNode);
cleanupLeaves(startNode.getParent());
// vehicle collision for both players! how unlucky for the other player :P
}
}
else // no collision, create more leaves
{
TreeNode newstartNode = new TreeNode();
int child1 = 0, child2 = 0;
while (child1 == child2)
{
startNode.createChildren();
child1 = chooseChild(vehicle.pos, startNode);
child2 = chooseChild(startNode.getPosition(), startNode);
switch (child2)
{
case 1:
copyNodeToChild(startNode, startNode.getChild1());
newstartNode = startNode.getChild1();
break;
case 2:
copyNodeToChild(startNode, startNode.getChild2());
newstartNode = startNode.getChild2();
break;
case 3:
copyNodeToChild(startNode, startNode.getChild3());
newstartNode = startNode.getChild3();
break;
case 4:
copyNodeToChild(startNode, startNode.getChild4());
newstartNode = startNode.getChild4();
break;
}
if (child1 != child2) //If the new wall and existing wall are not getting the same child number
{
switch (child1)
{
case 1:
fillNodeWithVehicle(vehicle, startNode.getChild1());
break;
case 2:
fillNodeWithVehicle(vehicle, startNode.getChild2());
break;
case 3:
fillNodeWithVehicle(vehicle, startNode.getChild3());
break;
case 4:
fillNodeWithVehicle(vehicle, startNode.getChild1());
break;
}
emptyNode(startNode); // only leaves can have data!!!
}
else
{
emptyNode(startNode); // only leaves can have data!!!
startNode = newstartNode;
}
}
}
}
else
{
fillNodeWithVehicle(vehicle, startNode); // should MARK that node as full and as a vehicle
}
}
return(false);
}
