private void UpdatePhysics()
{
colony.Wander(r);
if (timeSteps % 5 == 0 && doSpawn)
{
colony.ants.Add(new Ant(10, new Vector2(Width / 2, Height / 2),
Misc.VecFromAng(r.NextDouble() * 360f)));
}
if (timeSteps % 9 == 0)
{
colony.UpdatePheromones();
}
colony.pathPheromonesQTree = new QTree(new Vector2(Width / 2, Height / 2), new Vector2(Width, Height), 4);
colony.pathPheromonesQTree.Fill(colony.pathPheromones.ToList <Point>());
colony.foodPheromonesQTree = new QTree(new Vector2(Width / 2, Height / 2), new Vector2(Width, Height), 4);
colony.foodPheromonesQTree.Fill(colony.foodPheromones.ToList <Point>());
foodQTree = new QTree(new Vector2(Width / 2, Height / 2), new Vector2(Width, Height), 1);
foodQTree.Fill(food);
colony.FollowPheromones();
colony.SeekFood(foodQTree);
colony.SeekHome(new Vector2(Width / 2, Height / 2));
colony.AvoidBorders(30, Width, Height);
colony.BounceFromBorders(Width, Height);
colony.UpdateLocation();
}
void Subdivide()
{
if (!isDivided)
{
topleft = new QTree(new Vector2(loc.X - dim.X / 4, loc.Y - dim.Y / 4), new Vector2(dim.X / 2, dim.Y / 2), capacity);
topright = new QTree(new Vector2(loc.X + dim.X / 4, loc.Y - dim.Y / 4), new Vector2(dim.X / 2, dim.Y / 2), capacity);
botleft = new QTree(new Vector2(loc.X - dim.X / 4, loc.Y + dim.Y / 4), new Vector2(dim.X / 2, dim.Y / 2), capacity);
botright = new QTree(new Vector2(loc.X + dim.X / 4, loc.Y + dim.Y / 4), new Vector2(dim.X / 2, dim.Y / 2), capacity);
isDivided = true;
}
}
//public void UpdatePheromones()
//{
// List<Pheromone> toRemove = new List<Pheromone>();
// foreach (var p in pathPheromones)
// {
// if (p.durationLeft == 0)
// toRemove.Add(p);
// else
// p.UpdateSaturation();
// }
// pathPheromones.RemoveAll(p => toRemove.Contains(p));
// toRemove = new List<Pheromone>();
// foreach (var p in foodPheromones)
// {
// if (p.durationLeft == 0)
// toRemove.Add(p);
// else
// p.UpdateSaturation();
// }
// foodPheromones.RemoveAll(p => toRemove.Contains(p));
// foreach (var ant in ants)
// {
// if (ant.isCarryingFood)
// foodPheromones.Add(new Pheromone(3, ant.loc, 150));
// else
// pathPheromones.Add(new Pheromone(3, ant.loc, 150));
// }
//}
public void SeekFood(QTree foodQTree)
{
foreach (var ant in ants)
{
if (!ant.isCarryingFood)
{
List <Point> neibs = new List <Point>();
foodQTree.Quarry(new Point(ant.loc + ant.vel.Normalized() * ant.size * 3.5f), ant.size * 5f, neibs);
if (neibs.Count != 0)
{
Point minNeib = neibs[0];
float minDist = Vector2.Distance(neibs[0].loc, ant.loc);
foreach (var n in neibs)
{
float dist = Vector2.Distance(n.loc, ant.loc);
if (dist < minDist)
{
minDist = dist;
minNeib = n;
}
}
if (minDist < ant.size)
{
ant.isCarryingFood = true;
ant.vel *= -1;
ant.pheromoneDurationLeft = ant.pheromoneDuration;
}
else
{
ant.Steer(minNeib.loc, 1f);
}
}
}
}
}
public void QuarryLimited(Point centralPoint, float widthOfSearch, List <Point> found, int limit)
{
Queue <QTree> queue = new Queue <QTree>();
Queue <int> layer = new Queue <int>();
bool doAddNew = true;
queue.Enqueue(this);
//layer.Enqueue(1);
while (queue.Count != 0)
{
QTree t = queue.Dequeue();
foreach (Point other in t.points)
{
if (centralPoint != other && Contains(other.loc, new Vector2(centralPoint.loc.X, centralPoint.loc.Y), new Vector2(widthOfSearch, widthOfSearch)))
{
found.Add(other.Copy());
}
}
if (found.Count >= limit)
{
return;
doAddNew = false;
}
if (doAddNew && t.isDivided)
{
queue.Enqueue(t.topleft);
queue.Enqueue(t.topright);
queue.Enqueue(t.botleft);
queue.Enqueue(t.botright);
}
}
}
