void SetCenterColor()
{
int c1 = GetNeuronValueInt(null, na.Width / 2, 0);
int c2 = GetNeuronValueInt(null, na.Width / 2, 1);
ModuleUKSN nmUKS = (ModuleUKSN)FindModuleByType(typeof(ModuleUKSN));
if (nmUKS != null && nmUKS.Labeled("Color") != null)
{
List <Thing> colors = nmUKS.Labeled("Color").Children;
//if (c1 != 0)
{
nmUKS.Fire(nmUKS.Valued(c1, colors));
}
//if (c2 != 0)
{
nmUKS.Fire(nmUKS.Valued(c2, colors));
}
}
}
//maintain a list of objects in the current visual field
public void FireVisibleObjects()
{
ModuleView naUKS = theNeuronArray.FindAreaByLabel("Module2DUKS");
if (naUKS == null)
{
return;
}
ModuleUKSN UKS = (ModuleUKSN)naUKS.TheModule;
if (UKSSegments == null)
{
return;
}
//Thing tVisible = UKS.Labeled("Visible");
//clear all visiblility references
//for (int i = 0; i < UKSSegments.Count; i++)
// UKSSegments[i].RemoveReference(tVisible);
ModuleView naVision = theNeuronArray.FindAreaByLabel("Module2DVision");
if (naVision == null)
{
return;
}
int possibleViewAngles = naVision.Width;
float deltaTheta = Module2DVision.fieldOfView / possibleViewAngles;
for (int i = 0; i < possibleViewAngles; i++)
{
float theta = (float)-Module2DVision.fieldOfView / 2 + (i * deltaTheta);
PointPlus P = new PointPlus {
R = 10, Theta = theta
};
foreach (Thing t in UKSSegments)
{
Segment s = SegmentFromUKSThing(t);
if (s == null)
{
continue;
}
Utils.FindIntersection(new Point(0, 0), P.P, s.P1.P, s.P2.P,
out bool lines_intersect, out bool segments_intersect,
out Point intersection, out Point close_p1, out Point closep2, out double collisionAngle);
if (segments_intersect)
{
//TODO...only fire the closest at each point
UKS.Fire(t);
// t.AddReference(tVisible);
}
}
}
}
//TODO: rewrite again
public Thing AddSegmentFromVision(PointPlus P1, PointPlus P2, ColorInt theColor, bool moved)
{
Thing retVal = null;
Debug.WriteLine("AddSegment: " + P1 + P2 + theColor);
//determine if the segment is already in the UKS.
//Correct it if it is there, add it if it is not.
//FUTURE: detect motion
if (theColor == 0)
{
return(null);
}
Segment newSegment = new Segment()
{
P1 = P1, P2 = P2, theColor = theColor
};
ModuleUKSN UKS = (ModuleUKSN)FindModuleByType(typeof(ModuleUKSN));
GetSegmentsFromUKS();
if (UKS != null)
{
//it's easier if we sort by theta
OrderSegment(newSegment);
retVal = MostLikelySegment(newSegment);
if (retVal != null)
{
//UKS.Fire(match);
//OrderSegment(match);
//Segment s = SegmentFromUKSThing(match);
//float newVisualWidth = newSegment.VisualWidth();
//float matchVisualWidth = s.VisualWidth();
////if the newVisualWidth is bigger, an adjustment is needed
////this happens if the initial view was occluded but now it is less
//Thing match1 = MostLikelyPoint(newSegment.P1, newSegment.theColor);
//Thing match2 = MostLikelyPoint(newSegment.P2, newSegment.theColor);
//if (match1 != null && match2 != null)
//{
// if (newSegment.P1.Conf < s.P1.Conf)
// {
// s.P1.Conf = newSegment.P1.Conf;
// s.P1.R = newSegment.P1.R;
// s.P1.Theta = newSegment.P1.Theta;
// }
// if (newSegment.P2.Conf < s
// .P2.Conf)
// {
// s.P2.Conf = newSegment.P2.Conf;
// s.P2.R = newSegment.P2.R;
// s.P2.Theta = newSegment.P2.Theta;
// }
//}
////there is a significant point mismatch...
//else
//{
// if (match1 == null && newSegment.P1.R > s.P1.R)
// {
// s.P1.Conf = newSegment.P1.Conf;
// s.P1.R = newSegment.P1.R;
// s.P1.Theta = newSegment.P1.Theta;
// }
// if (match2 == null && newSegment.P2.R > s.P2.R)
// {
// s.P2.Conf = newSegment.P2.Conf;
// s.P2.R = newSegment.P2.R;
// s.P2.Theta = newSegment.P2.Theta;
// }
//}
}
else
{
retVal = AddSegmentToUKS(P1, P2, theColor);
UKS.Fire(retVal);
}
UpdateDialog();
}
return(retVal);
}
