void Awake()
{
// connect to the outer data
labyrinth = GameObject.FindGameObjectWithTag("Labyrinth").GetComponent<LabyrinthController>();
walls = labyrinth.GetMap();
minimap = GameObject.FindGameObjectWithTag("Minimap").GetComponent<MinimapController>();
// connect to subsystems
laser = GetComponent<DroidLaser>();
// create first particles, for 3*3 for each unit
var length = labyrinth.length;
var width = labyrinth.width;
var particlesOnUnit = 1;
var particlesShift = CreateParticlesShift(particlesOnUnit);
var ls = new List<Particle>();
for (var i = 0; i < length; i++)
{
for (var j = 0; j < width; j++)
{
if (walls[i, j] == 0)
{
// nine particles for every unit
for (var k = 0; k < particlesOnUnit*particlesOnUnit; k++)
{
var particle = new Particle
{
probablity = 1,
position = new Vector3(i, 1f, j) + particlesShift[k]
};
ls.Add(particle);
}
}
}
}
// create particles map
particlesMap = new ParticlesMap(ls);
particlesMap.Normalize();
StartCoroutine(minimap.ShowParticles(particlesMap.Particles));
}
private void WeightParticles()
{
var data = laser.Scan();
var pBest = new Particle();
foreach (var p in particlesMap.Particles)
{
var convolution = LaserHelper.ScanPoint(p.position)*data;
//p.direction = (int)convolution.topPosition;
p.probablity = CalculateProbabilityOnProductResult(convolution);
if (p.probablity > pBest.probablity)
{
pBest = p;
}
}
}