/// <summary>
/// Constructs a new Wall object by copying an existing Wall.
/// </summary>
public Wall(Wall otherWall)
{
Name = otherWall.Name;
Colored = false;
Line = new Line2D(otherWall.Line);
//set center point
Location = Line.midpoint();
Dynamic = false;
Visible = otherWall.Visible;
}
/// <summary>
/// Constructs a new Wall object from scratch
/// </summary>
/// <param name="nx1">X component of endpoint 1</param>
/// <param name="ny1">Y component of endpoint 1</param>
/// <param name="nx2">X component of endpoint 2</param>
/// <param name="ny2">Y component of endpoint 2</param>
/// <param name="vis">Is the wall visible?</param>
/// <param name="n">Wall name</param>
public Wall(double nx1, double ny1, double nx2, double ny2, bool vis, string n)
{
Name = n;
Colored = false;
Point2D p1 = new Point2D(nx1, ny1);
Point2D p2 = new Point2D(nx2, ny2);
Line = new Line2D(p1, p2);
//set center point
Location = Line.midpoint();
Dynamic = false;
Visible = vis;
}
/// <summary>
/// Casts a ray from the robot's center point according to the specified Angle and returns the Distance to the closest object.
/// </summary>
/// <param name="Angle">Angle of sensor, in radians. Also see the "absolute" parameter.</param>
/// <param name="maxRange">Max Distance that the robot can see in front of itself.</param>
/// <param name="point">2D location of the robot's center.</param>
/// <param name="Owner">The currently active robot.</param>
/// <param name="hit">** Output variable ** - true if another object intersects the cast ray, false otherwise.</param>
/// <param name="absolute">If false, the Angle parameter is relative to the agent's Heading. Otherwise it follows the standard unit AreaOfImpact.</param>
/// <returns></returns>
public override double raycast (double angle, double maxRange, Point2D point, Robot owner, out SimulatorObject hit, bool absolute = false)
{
hit=null;
Point2D casted = new Point2D(point);
double distance = maxRange;
// Cast point casted out from the robot's center point along the sensor direction
if (!absolute)
{
casted.X += Math.Cos(angle + owner.Heading) * distance;
casted.Y += Math.Sin(angle + owner.Heading) * distance;
}
else
{
casted.X += Math.Cos(angle) * distance;
casted.Y += Math.Sin(angle) * distance;
}
// Create line segment from robot's center to casted point
Line2D cast = new Line2D(point, casted);
// Now do naive detection of collision of casted rays with objects
// First for all walls
foreach (Wall wall in Domain.walls)
{
if (!wall.Visible)
continue;
bool found = false;
Point2D intersection = wall.Line.intersection(cast, out found);
if (found)
{
double new_distance = intersection.distance(point);
if (new_distance < distance) {
distance = new_distance;
hit=wall;
}
}
}
// Then for all robots
if(!AgentVisible)
return distance;
foreach (Robot robot2 in Robots)
{
bool found = false;
if (robot2 == owner)
continue;
double new_distance = cast.nearestIntersection(robot2.AreaOfImpact, out found);
if (found)
{
if (new_distance < distance)
{
distance = new_distance;
hit=robot2;
}
}
}
return distance;
}
/// <summary>
/// Calculates the point of intersection between two line segments
/// </summary>
/// <param name="L">Second line segment that is supposed to intersect with this line segment.</param>
/// <param name="found">**Output parameter**, will return false if no intersection exists.</param>
public Point2D intersection(Line2D line,out bool found)
{
Point2D pt = new Point2D(0.0,0.0);
Point2D A = Endpoint1;
Point2D B = Endpoint2;
Point2D C = line.Endpoint1;
Point2D D = line.Endpoint2;
double rTop = (A.Y-C.Y)*(D.X-C.X)-(A.X-C.X)*(D.Y-C.Y);
double rBot = (B.X-A.X)*(D.Y-C.Y)-(B.Y-A.Y)*(D.X-C.X);
double sTop = (A.Y-C.Y)*(B.X-A.X)-(A.X-C.X)*(B.Y-A.Y);
double sBot = (B.X-A.X)*(D.Y-C.Y)-(B.Y-A.Y)*(D.X-C.X);
if ((rBot == 0 || sBot == 0))
{
found = false;
return pt;
}
double r = rTop/rBot;
double s = sTop/sBot;
if( (r>0) && (r<1) && (s>0) && (s<1))
{
pt.X = A.X + r * (B.X-A.X);
pt.Y = A.Y + r * (B.Y - A.Y);
found=true;
return pt;
}
else
{
found = false;
return pt;
}
}
/// <summary>
/// Creates a new Line2D object by copying another Line2D.
/// </summary>
public Line2D(Line2D otherLine2D)
{
Endpoint1=otherLine2D.Endpoint1;
Endpoint2=otherLine2D.Endpoint2;
}
/// <summary>
/// Casts a ray from the robot's center point according to the specified Angle and returns the Distance to the closest object.
/// </summary>
/// <param name="Angle">Angle of sensor, in radians. Also see the "absolute" parameter.</param>
/// <param name="maxRange">Max Distance that the robot can see in front of itself.</param>
/// <param name="point">2D location of the robot's center.</param>
/// <param name="Owner">The currently active robot.</param>
/// <param name="hit">** Output variable ** - true if another object intersects the cast ray, false otherwise.</param>
/// <param name="absolute">If false, the Angle parameter is relative to the agent's Heading. Otherwise it follows the standard unit AreaOfImpact.</param>
/// <returns></returns>
public override double raycast(double angle, double maxRange, Point2D point, Robot owner, out SimulatorObject hit, bool absolute = false)
{
hit = null;
Point2D casted = new Point2D(point);
double distance = maxRange;
// Cast point casted out from the robot's center point along the sensor direction
if (!absolute)
{
casted.X += Math.Cos(angle + owner.Heading) * distance;
casted.Y += Math.Sin(angle + owner.Heading) * distance;
}
else
{
casted.X += Math.Cos(angle) * distance;
casted.Y += Math.Sin(angle) * distance;
}
// Create line segment from robot's center to casted point
Line2D cast = new Line2D(point, casted);
// Now do naive detection of collision of casted rays with objects
// First for all walls
foreach (Wall wall in Domain.walls)
{
if (!wall.Visible)
{
continue;
}
bool found = false;
Point2D intersection = wall.Line.intersection(cast, out found);
if (found)
{
double new_distance = intersection.distance(point);
if (new_distance < distance)
{
distance = new_distance;
hit = wall;
}
}
}
// Then for all robots
if (!AgentVisible)
{
return(distance);
}
foreach (Robot robot2 in Robots)
{
bool found = false;
if (robot2 == owner)
{
continue;
}
double new_distance = cast.nearestIntersection(robot2.AreaOfImpact, out found);
if (found)
{
if (new_distance < distance)
{
distance = new_distance;
hit = robot2;
}
}
}
return(distance);
}
