public void Move()
{
double dx = 0.0;
double dy = 0.0;
obstacles.ForEach(delegate(Source obstacle) {
ForceVector forceVector = new ForceVector(obstacle.x, x, obstacle.y, y);
double squaredLength = forceVector.width * forceVector.width;
// This multiplication 'smooths' a robot movement
if (obstacle is Pendulum)
{
squaredLength *= 2.0;
}
dx += ((obstacle.x - x) * obstacle.charge) / squaredLength;
dy += ((obstacle.y - y) * obstacle.charge) / squaredLength;
});
double dLength = Math.Sqrt(dx * dx + dy * dy);
dx /= dLength;
dy /= dLength;
dx *= this.velocity;
dy *= this.velocity;
if (dx < 1 && dx >= -1)
{
dx = Math.Sign(dx);
}
if (dy < 1 && dy >= -1)
{
dy = Math.Sign(dy);
}
this.x += (int)dx;
this.y += (int)dy;
this.currentDx = dx;
this.currentDy = dy;
}
public new ForceVector calculateForceVector(Robot robot)
{
ForceVector forceVector = new ForceVector(this.x, robot.x, this.y, robot.y);
forceVector.width -= this.radius;
if (forceVector.width < 0)
{
forceVector.width = 0;
}
forceVector.dx *= this.charge;
forceVector.dy *= this.charge;
double vectorWidthSquare = forceVector.width * forceVector.width;
forceVector.dx /= vectorWidthSquare;
forceVector.dy /= vectorWidthSquare;
return(forceVector);
}