private Map createBaseMap()
{
_baseMap = new Map(this);
_baseMap.SetWorldProperties(_worldProperties);
_baseMap.GetMapBody().initializeMap(_mapSizeX, _mapSizeY);
return _baseMap;
}
internal void Reset()
{
LOG.Info("Reseting base map");
StopAllChildMaps();
_baseMap.StopWork();
_baseMap = createBaseMap();
_baseMap.StartWork();
}
public IMapManagment CreateChildMap()
{
Map child = new Map(_mapManager);
child.GetMapBody().setParent(this);
_mapManager.RegisterChildMap(child);
child.SetWorldProperties(_worldProperties);
child.StartWork();
return child;
}
public void Initialize(Geom[] geoms, Robot[] robots)
{
StopAllChildMaps();
Pair world = FindLargestGeom(geoms);
Vector worldSize = world.Size;
Vector floorPosition = world.Position;
Vector robotSize = FindSmallestRobot(robots);
double longEdge = robotSize.X > robotSize.Y ? robotSize.X : robotSize.Y;
double cellSize = longEdge / 3.0;
_mapSizeX = (int)Math.Ceiling(worldSize.X / cellSize);
_mapSizeY = (int)Math.Ceiling(worldSize.Y / cellSize);
double positionX = floorPosition.X - worldSize.X / 2.0;
double positionY = floorPosition.Y - worldSize.Y /2.0;
if (_baseMap != null)
{
_baseMap.StartWork();
}
LOG.Info("Map size : [ " + _mapSizeX + " , " + _mapSizeY + " ] position(0,0): [" + positionX + " , " + positionY + "]");
_worldProperties = new WorldProperties(_mapSizeX, _mapSizeY, worldSize.X, worldSize.Y, positionX, positionY);
_baseMap = createBaseMap();
_baseMap.StartWork();
}
internal void RegisterChildMap(Map child)
{
_childMaps.Add(child);
}