/** Schrum2: Taken from MM-NEAT
* Assuming that something at p1 is aimed towards the position at
* sourceRads radians on the unit circle, compare the resulting vector to a
* vector from p1 to p2. The difference in radians between
* the angles of the two vectors is returned, with different signs
* indicating which side of each other the two vectors are.
*
* @param sourceRads between 0 and 2pi
* @return difference in angles
*/
public double signedAngleFromSourceHeadingToTarget(double sourceRads)
{
Point2D sourceToTarget = p2.subtract(p1);
double angleToTarget = sourceToTarget.angle();
return(signedAngleDifference(sourceRads, angleToTarget));
}
//per default we use the goal point of the environment as our target point.
public void update(Engine.Environment env, List<Robot> robots, CollisionManager cm)
{
Point2D temp = new Point2D((int)env.goal_point.x, (int)env.goal_point.y);
temp.rotate((float)-(owner.heading * 180.0 / 3.14), owner.circle.p);
//translate with respect to location of navigator
temp.x -= (float)owner.circle.p.x;
temp.y -= (float)owner.circle.p.y;
//what angle is the vector between target & navigator
float angle = (float)temp.angle();
angle *= 57.297f;//convert to degrees
//fire the appropriate radar sensor
for (int i = 0; i < radarAngles1.Count; i++)
{
signalsSensors[i].setSignal(0.0);
//radar[i] = 0.0f;
if (angle >= radarAngles1[i] && angle < radarAngles2[i])
{
signalsSensors[i].setSignal(1.0);
// Console.WriteLine(i);
}
//radar[i] = 1.0f;
if (angle + 360.0 >= radarAngles1[i] && angle + 360.0 < radarAngles2[i])
{
signalsSensors[i].setSignal(1.0);
// Console.WriteLine(i);
}
// radar[i] = 1.0f;
// inputs[sim_engine.robots[0].rangefinders.Count + i] = sim_engine.radar[i];
}
}
