public static void UpdateVision(Bot bot, IEnumerable <Bot> allBots)
{
foreach (var e in bot.Eyes)
{
e.Clear();
}
foreach (var otherBot in allBots.Where(b => b != bot))
{
var distanceVector = otherBot.Position - bot.Position;
var distanceSquared = distanceVector.LengthSquared();
if (distanceSquared < VisionLimitSquared)
{
// Take the bearing to the centre of the other bot
var angleToOtherBot = (float)Math.Atan2(distanceVector.Y, distanceVector.X);
var relativeAngle = AngleHelper.NormaliseAngle(angleToOtherBot - bot.Orientation);
// Translate to within -pi to +pi (move the discontinuity to outside the edges of vision)
if (relativeAngle > Math.PI)
{
relativeAngle -= 2 * (float)Math.PI;
}
// Calculate what arc the other bot should fill
var distance = Math.Sqrt(distanceSquared);
var radiusAngle = Math.Atan2(otherBot.Radius, distance);
var visibleAngleStart = relativeAngle - radiusAngle;
var visibleAngleStop = relativeAngle + radiusAngle;
for (var i = 0; i < Bot.EyeCount; i++)
{
var eyePosition = i - Bot.EyeCount / 2;
var eyeStart = (eyePosition * Bot.EyeAngle * 2) - Bot.EyeAngle;
var eyeStop = (eyePosition * Bot.EyeAngle * 2) + Bot.EyeAngle;
if (
visibleAngleStart > eyeStart && visibleAngleStart < eyeStop || // Other bot start edge is in the eye
visibleAngleStop > eyeStart && visibleAngleStop < eyeStop || // Other bot stop edge is in the eye
visibleAngleStart < eyeStart && visibleAngleStop > eyeStop // Other bot completely covers the eye
)
{
bot.Eyes[i].Add(new EyeEntry(otherBot, (float)distance));
}
}
}
}
bot.EyeDistances = bot.Eyes.Select(e => e.Any() ? Bot.VisionLimit - e.Min(n => n.Distance) : 0).ToArray();
var middleEye = bot.Eyes[bot.FocusEye];
if (middleEye.Any())
{
bot.FocussedBot = middleEye.OrderBy(e => e.Distance).First().OtherBot;
}
else
{
bot.FocussedBot = null;
}
}
public void NormaliseAngleLeavesSmallAngle()
{
const float TestAngle = 2.0f;
var result = AngleHelper.NormaliseAngle(TestAngle);
result.Should().BeApproximately(TestAngle, AngleTolerance);
}
public void NormaliseAngleReducesVeryPositiveAngle()
{
const float TestAngle = 2.0f;
var result = AngleHelper.NormaliseAngle(TestAngle + (float)Math.PI * 6);
result.Should().BeApproximately(TestAngle, AngleTolerance);
}
public void NormaliseAngleIncreasesVeryNegativeAngle()
{
const float TestAngle = 2.0f;
var result = AngleHelper.NormaliseAngle(TestAngle - (float)Math.PI * 6);
result.Should().BeApproximately(TestAngle, AngleTolerance);
}
public static void UpdateBot(Bot bot)
{
bot.Orientation = AngleHelper.NormaliseAngle(bot.Orientation + AngleHelper.IntToAngle(bot.Memory[(int)MemoryAddresses.TurnRight] - bot.Memory[(int)MemoryAddresses.TurnLeft]));
// Right and down are positive x and y respectively
var netForce = new Vector2(
bot.GetFromMemory(MemoryAddresses.MoveUp) - bot.GetFromMemory(MemoryAddresses.MoveDown),
bot.GetFromMemory(MemoryAddresses.MoveRight) - bot.GetFromMemory(MemoryAddresses.MoveLeft));
var rotation = Matrix3x2.CreateRotation(bot.Orientation);
bot.Force += Vector2.Transform(netForce, rotation);
}
