//Different from PieSliceSensorArray in that EnemyRobots are used as targets instead
// of goal points.
public void update(Engine.Environment env, List<Robot> robots, CollisionManager cm)
{
List<float> translatedEnemyAngles = new List<float>();
// Start at 1: Assume all robots after first are enemies
for (int i = 1; i < robots.Count; i++)
{
EnemyRobot er = (EnemyRobot) robots[i];
if (!er.stopped) // Only sense prey robots that are active
{
Point2D temp = new Point2D((int)er.location.x, (int)er.location.y);
temp.rotate((float)-(owner.heading), owner.circle.p); //((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 = angleValue((float)temp.x, (float)temp.y);// (float)temp.angle();
translatedEnemyAngles.Add(angle);
}
}
//fire the appropriate radar sensor
for (int i = 0; i < radarAngles1.Count; i++)
{
signalsSensors[i].setSignal(0.0);
for (int a = 0; a < translatedEnemyAngles.Count; a++)
{
float angle = translatedEnemyAngles[a];
if (angle >= radarAngles1[i] && angle < radarAngles2[i])
{
signalsSensors[i].setSignal(1.0);
}
if (angle + 360.0 >= radarAngles1[i] && angle + 360.0 < radarAngles2[i])
{
signalsSensors[i].setSignal(1.0);
}
}
}
}
//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), owner.circle.p); //((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 = angleValue((float)temp.x, (float) temp.y);// (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];
}
}
