// This function is called from the motion planner. It is
// used to check for collisions between an edge between
// nodes n1 and n2, and a wall segment.
// The function uses an iterative approach by moving along
// the edge a "safe" distance, defined to be the shortest distance
// to the wall segment, until the end of the edge is reached or
// a collision occurs.
public bool CollisionFound(Navigation.Node n1, Navigation.Node n2, double tol)
{
// Check that within boundaries
if (n2.x > maxWorkspaceX || n2.x < minWorkspaceX || n2.y > maxWorkspaceY || n2.y < minWorkspaceY)
{
return(true);
}
// Check for collision with walls
double theta = Math.Atan2(n2.y - n1.y, n2.x - n1.x);
double edgeSize = Math.Sqrt(Math.Pow(n2.y - n1.y, 2) + Math.Pow(n2.x - n1.x, 2));
double sinTheta = Math.Sin(theta);
double cosTheta = Math.Cos(theta);
// Loop through segments
for (int segment = 0; segment < numMapSegments; segment++)
{
double distTravelledOnEdge = 0;
double ex = n1.x, ey = n1.y;
double distToSegment;
while (distTravelledOnEdge - tol < edgeSize)
{
distToSegment = GetWallDistance(ex, ey, segment, tol, n2.x, n2.y);
if (distToSegment - tol < 0.05)
{
return(true);
}
ex += cosTheta * distToSegment;
ey += sinTheta * distToSegment;
distTravelledOnEdge += distToSegment;
}
}
return(false);
}
/// <summary>
/// Get the next node in the current room and walk to it.
/// </summary>
/// <returns>False if the path to the room node is rejected, True otherwise.</returns>
private bool GoToNextRoomNode()
{
Navigation.Node node = roomNodes.Pop();
return(monster.navigation.StartPath(node));
}
