public void RegreseMove(int selRobot, Vector2D moveTo, Core.Robot[] a, Core.Robot[] b)
{
Bod robo;
Bod prekazka;
Bod prekazka2;
Bod cil;
List <RobotDistance> lis = new List <RobotDistance>();
robo = new Bod(a[selRobot].Position.X, a[selRobot].Position.Y);
cil = new Bod(moveTo.X, moveTo.Y);
//hledani prekazek v ceste robota
for (int i = 0; i < 5; i++)
{
prekazka = new Bod(b[i].Position.X, b[i].Position.Y);
prekazka2 = new Bod(a[i].Position.X, a[i].Position.Y);
try
{
if (IsObstacle(robo, prekazka, cil))
{
lis.Add(new RobotDistance(new Bod(prekazka.x, prekazka.y), distanceTwoPoints(robo, prekazka)));
}
if (IsObstacle(robo, prekazka2, cil) && i != selRobot)
{
lis.Add(new RobotDistance(new Bod(prekazka2.x, prekazka2.y), distanceTwoPoints(robo, prekazka2)));
}
}
catch { };
}
int offset = 10;
//objeti prekazky smerem k cili kterym je MoveTo
if (lis.Count > 0)
{
try
{
var sort = from s in lis orderby s.vzdalenost select s;
PolynomialRegresion regrese = new PolynomialRegresion(robo, new Bod(sort.ElementAt(0).bod.x, sort.ElementAt(0).bod.y), cil);
List <Bod> body = regrese.polynom(true);
if (cil.x > robo.x)
{
a[selRobot].PositionMove = new Vector2D(body[Convert.ToInt32(robo.x + offset) + 110].x, body[Convert.ToInt32(robo.x + offset) + 110].y);
}
else
{
a[selRobot].PositionMove = new Vector2D(body[Convert.ToInt32(robo.x - offset) + 110].x, body[Convert.ToInt32(robo.x - offset) + 110].y);
}
lis.RemoveAll(item => item.vzdalenost > 0);
//Debug.Log(mirror + " - " + selRobot + " PREKAZKA pri MoveTo");
}
catch { }
}
}
public void regrese(Core.Robot[] a, Core.Robot[] b)
{
Bod robo;
Bod prekazka;
Bod prekazka2;
Bod cil;
List <RobotDistance> lis = new List <RobotDistance>();
for (int j = 0; j < 5; j++)
{
robo = new Bod(a[j].Position.X, a[j].Position.Y);
cil = new Bod(a[j].PositionMove.X, a[j].PositionMove.Y);
//cil = new Bod(ball.Position.X,ball.Position.Y);
for (int i = 0; i < 5; i++)
{
prekazka = new Bod(b[i].Position.X, b[i].Position.Y);
prekazka2 = new Bod(a[i].Position.X, a[i].Position.Y);
try
{
if (IsObstacle(robo, prekazka, cil))
{
lis.Add(new RobotDistance(new Bod(prekazka.x, prekazka.y), distanceTwoPoints(robo, prekazka)));
}
if (IsObstacle(robo, prekazka2, cil) && i != j)
{
lis.Add(new RobotDistance(new Bod(prekazka2.x, prekazka2.y), distanceTwoPoints(robo, prekazka2)));
}
}
catch { };
}
if (lis.Count > 0)
{
try
{
var sort = from s in lis orderby s.vzdalenost select s;
PolynomialRegresion regrese = new PolynomialRegresion(robo, new Bod(sort.ElementAt(0).bod.x, sort.ElementAt(0).bod.y), cil);
List <Bod> body = regrese.polynom(true);
if (cil.x > robo.x)
{
a[j].PositionMove = new Vector2D(body[Convert.ToInt32(robo.x + 1) + 110].x, body[Convert.ToInt32(robo.x + 1) + 110].y);
}
else
{
a[j].PositionMove = new Vector2D(body[Convert.ToInt32(robo.x - 1) + 110].x, body[Convert.ToInt32(robo.x - 1) + 110].y);
}
lis.RemoveAll(item => item.vzdalenost > 0);
}
catch { }
}
}
}
public void RegreseOne(int selRobot, Core.Ball ball, Core.Robot[] a, Core.Robot[] b)
{
Bod robo;
Bod prekazka;
Bod prekazka2;
Bod cil;
List <RobotDistance> lis = new List <RobotDistance>();
//for (int j = 0; j < 5; j++)
{
robo = new Bod(a[selRobot].Position.X, a[selRobot].Position.Y);
//cil = new Bod(a[selRobot].PositionMove.X, a[selRobot].PositionMove.Y);
cil = new Bod(ball.Position.X, ball.Position.Y);
//hledani prekazek v ceste robota
for (int i = 0; i < 5; i++)
{
prekazka = new Bod(b[i].Position.X, b[i].Position.Y);
prekazka2 = new Bod(a[i].Position.X, a[i].Position.Y);
try
{
if (IsObstacle(robo, prekazka, cil))
{
lis.Add(new RobotDistance(new Bod(prekazka.x, prekazka.y), distanceTwoPoints(robo, prekazka)));
}
if (IsObstacle(robo, prekazka2, cil) && i != selRobot)
{
lis.Add(new RobotDistance(new Bod(prekazka2.x, prekazka2.y), distanceTwoPoints(robo, prekazka2)));
}
}
catch { };
}
int offset = 10;
//objeti prekazky smerem k cili kterym je micek
if (lis.Count > 0)
{
//if(!mirror)
// Debug.Log(selRobot + " PREKAZKA");
try
{
var sort = from s in lis orderby s.vzdalenost select s;
PolynomialRegresion regrese = new PolynomialRegresion(robo, new Bod(sort.ElementAt(0).bod.x, sort.ElementAt(0).bod.y), cil);
List <Bod> body = regrese.polynom(true);
if (cil.x > robo.x)
{
a[selRobot].PositionMove = new Vector2D(body[Convert.ToInt32(robo.x + offset) + 110].x, body[Convert.ToInt32(robo.x + offset) + 110].y);
}
else
{
a[selRobot].PositionMove = new Vector2D(body[Convert.ToInt32(robo.x - offset) + 110].x, body[Convert.ToInt32(robo.x - offset) + 110].y);
}
lis.RemoveAll(item => item.vzdalenost > 0);
}
catch { }
}
//mezi mickem a robotem neni prekazka, zmenit cil za branku a prolozit mickem
else
{
try
{
PolynomialRegresion regrese;
List <Bod> body;
if (mirror)
{
//micek je pred robotem
if (robo.x > ball.Position.X)
{
cil = new Bod(-110, 0);
regrese = new PolynomialRegresion(robo, new Bod(ball.Position.X, ball.Position.Y), cil);
body = regrese.polynom(false);
}
//micek je za robotem
else
{
cil = new Bod(110, 0);
regrese = new PolynomialRegresion(robo, new Bod(ball.Position.X, ball.Position.Y), cil);
body = regrese.polynom(true);
}
if (cil.x > robo.x)
{
a[selRobot].PositionMove = new Vector2D(body[Convert.ToInt32(robo.x + offset) + 110].x, body[Convert.ToInt32(robo.x + offset) + 110].y);
}
else
{
a[selRobot].PositionMove = new Vector2D(body[Convert.ToInt32(robo.x - offset) + 110].x, body[Convert.ToInt32(robo.x - offset) + 110].y);
}
}
else
{
//micek je za robotem
if (robo.x > ball.Position.X)
{
cil = new Bod(-110, 0);
regrese = new PolynomialRegresion(robo, new Bod(ball.Position.X, ball.Position.Y), cil);
body = regrese.polynom(true);
}
//micek je pred robotem
else
{
cil = new Bod(110, 0);
regrese = new PolynomialRegresion(robo, new Bod(ball.Position.X, ball.Position.Y), cil);
body = regrese.polynom(false);
}
if (cil.x > robo.x)
{
a[selRobot].PositionMove = new Vector2D(body[Convert.ToInt32(robo.x + offset) + 110].x, body[Convert.ToInt32(robo.x + offset) + 110].y);
}
else
{
a[selRobot].PositionMove = new Vector2D(body[Convert.ToInt32(robo.x - offset) + 110].x, body[Convert.ToInt32(robo.x - offset) + 110].y);
}
}
}
catch { }
}
}
}
