/// <summary>
/// Notifies the MapContext that a zeebot will change its facing, by a certain value.
/// </summary>
/// <param name="zeebot">The zeebot that is chaning facing.</param>
/// <param name="value">The increment value with which the facing is changing (positive means
/// counter-clockwise rotation). </param>
/// </param>
public void ChangeFacing(IZeebot zeebot, double value)
{
zeebots[zeebot].Facing += value;
}
public void AddZeebotAt(IZeebot zeebot, MovingPoint position)
{
zeebot.Id = zeebots.Count;
zeebot.MapContext = this;
zeebots[zeebot] = position;
}
public void AddZeebot(IZeebot zeebot)
{
zeebot.Id = zeebots.Count;
zeebot.MapContext = this;
zeebots[zeebot] = GetRandomPoint();
}
/// <summary>
/// Notifies the MapContext that a zeebot will try to move forward a certain value.
/// </summary>
/// <param name="zeebot">The zeebot that is attempting to move.</param>
/// <param name="value">The value with which the zeebots tries to move forward. </param>
/// <param name="success">How much of the value did the zeebot succeed to move forward.
/// </param>
/// <returns>Whether the move succeeded or not.</returns>
public bool TryMove(IZeebot zeebot, double value, out double success)
{
MovingPoint mp = zeebots[zeebot];
Point end = new Point();
end.X = mp.Location.X + value * Math.Cos(mp.Facing);
end.Y = mp.Location.Y + value * Math.Sin(mp.Facing);
bool result = map.TryMove(mp.Location, end, out success);
end.X = mp.Location.X + success * Math.Cos(mp.Facing);
end.Y = mp.Location.Y + success * Math.Sin(mp.Facing);
mp.Location = end;
if (!map.InMinMaxBox(mp.Location))
throw new Exception(string.Format("Not in min-max at: {0}", mp.Location));
return result;
}
public double QueryZeebotDistance(IZeebot zeebot, IZeebot otherZeebot)
{
Point other = zeebots[otherZeebot].Location;
return zeebots[zeebot].Location.DistanceTo(other);
}
/// <summary>
/// A zeebot shoots its laser beam in front of him, and asks the MapContext at
/// what distance is an obstacle in front of him, if any. Returns the distance to
/// the first obstacle in front of the zeebot, or NaN if no such object exist in the
/// range of the laser's distance (the laser expired).
/// </summary>
/// <param name="zeebot"> The zeebot that is performing the query.</param>
/// <returns> The distance to the obstacle in front of the zeebot, or NaN if the laser
/// expired. </returns>
public double QueryLaser(IZeebot zeebot)
{
MovingPoint mp = zeebots[zeebot];
Point end = new Point();
end.X = mp.Location.X + LaserDistance * Math.Cos(mp.Facing);
end.Y = mp.Location.Y + LaserDistance * Math.Sin(mp.Facing);
double result;
if (map.CanMove(mp.Location, end, out result))
return double.NaN;
else
return result;
}
