public void Update(Vector2 suPos)
{
_angle += 0.05f;
if (_angle > Math.PI * 2)
{
_angle = 0f;
}
_radarPoints.Update(_angle);
{
Map.MapPoint collisionPoint = _map.RdarDetection(suPos, RADAR_RANGE, _angle);
if (collisionPoint.GetID() != -1)
{
_radarPoints.SetPoint(_angle, collisionPoint.GetPos() / RADAR_RANGE * RADAR_DISPLAY_RAD, collisionPoint.GetID());
}
}
}
public Map.MapPoint Collision(Vector2 pos, Vector2 direction) //return first Collision Point between strahl and Iland, direction.Length is importend
{
pos -= _position; //transform Koordinatensystem, now cenmter iland is center
float minAngle = VecAngle(pos);
float maxAngle = VecAngle(pos + direction);
bool maxLoMin = maxAngle < minAngle; //wenn min > max
int i = 0;
Map.MapPoint mapPoint;
Vector2 interceptPoint = Vector2.Zero;
Vector2 nerstPoint = direction; //point wih largest distance
Vector2 delta = new Vector2(0, 0);
do
{
delta = _corner[i == 0 ? _corner.Length - 1 : i - 1] - _corner[i];
interceptPoint = Map_Radar.Algebra.Intercept(_corner[i], delta, pos, direction);
if (interceptPoint != Vector2.Zero)
{
if ((interceptPoint - pos).Length() < nerstPoint.Length())
{
nerstPoint = interceptPoint;
}
}
i++;
} while (i < _corner.Length);
if (nerstPoint != direction)
{
mapPoint = new Map.MapPoint(_id, nerstPoint - pos);
}
else
{
mapPoint = new Map.MapPoint();
}
return(mapPoint);
}