public void AddZeebot(Zeebot zeebot)
{
if (z1 == null)
{
// First zeebot, assume (0, 0, ?).
z1 = zeebot;
Zeebots[zeebot] = new MovingPoint(0, 0, double.NaN);
}
else
if (z2 == null)
{
// Second zeebot, assume (d, 0, ?). Later compute ?.
z2 = zeebot;
double d = z1.DistanceTo(z2);
Zeebots[zeebot] = new MovingPoint(d, 0, double.NaN);
}
else
if (z3 == null)
{
// Third zeebot, compute (x, y, ?). After compute all ? facings.
z3 = zeebot;
double x, y, success;
ComputeZ3(out x, out y);
// If y = 0, they are colinear, so I'll move it a bit before.
if (Util.IsZero(y))
{
z3.TryMove(1.0, out success);
ComputeZ3(out x, out y);
// If y = 0, change its facing, then move it again.
if (Util.IsZero(y))
{
z3.ChangeFacing(Math.PI / 2);
z3.ChangeFacing(1.0);
ComputeZ3(out x, out y);
}
}
Zeebots[zeebot] = new MovingPoint(x, y, double.NaN);
// Can now compute all facings: move one zeebot in a direction,
// then intersect the 3 circles to find its exact position -> determine facing.
ComputeFacing(z3);
ComputeFacing(z2);
ComputeFacing(z1);
}
else
{
// We already have the base in place, now use that to compute this
// zeebot's exact coordinates.
Point location = ComputeLocation(zeebot);
Zeebots[zeebot] = new MovingPoint(location, double.NaN);
ComputeFacing(zeebot);
// Now we determing the general facing direction (+/-) of the Coordinate System.
if (Sign == 0)
ComputeFacingDirection(zeebot);
}
}
public MovingPoint(MovingPoint toCopy)
{
Location = toCopy.Location;
Facing = toCopy.Facing;
}
public void AddZeebotAt(IZeebot zeebot, MovingPoint position)
{
zeebot.Id = zeebots.Count;
zeebot.MapContext = this;
zeebots[zeebot] = position;
}