public bool CheckCollision(Robot robot, SegmentsIntersector segmentsIntersector)
{
Line firstLine = robot.GetLines()[0];
Line secondLine = robot.GetLines()[1];
bool sentinel = false;
foreach (var extendedRectangle in Colliders)
{
foreach (var line in extendedRectangle.GetLines())
{
bool intersectionWithFirst = segmentsIntersector.Intersect(firstLine, line);
bool intersectionWithSecond = segmentsIntersector.Intersect(secondLine, line);
if (intersectionWithFirst || intersectionWithSecond)
{
sentinel = true;
break;
}
}
if (sentinel)
{
break;
}
}
if (sentinel)
{
return true;
}
return false;
}
public PathFinder(ColliderContainer colliderContainer, ConfigurationSpace configurationSpace, Robot robot, LinearInterpolator linearInterpolator, DispatcherTimer timer)
{
this.colliderContainer = colliderContainer;
this.configurationSpace = configurationSpace;
this.robot = robot;
this.linearInterpolator = linearInterpolator;
this.timer = timer;
}
public void GenerateAnglesArray(Robot robot, Canvas Canvas, SegmentsIntersector segmentsIntersector)
{
int positiveCounter = 0;
for (int i = 0; i < maxAngle; i++)
for (int j = 0; j < maxAngle; j++)
{
robot.UpdateAngles(i, j);
robot.Reset(Canvas);
Line firstLine = robot.GetLines()[0];
Line secondLine = robot.GetLines()[1];
bool sentinel = false;
foreach (var extendedRectangle in Colliders)
{
foreach (var line in extendedRectangle.GetLines())
{
bool intersectionWithFirst = segmentsIntersector.Intersect(firstLine, line);
bool intersectionWithSecond = segmentsIntersector.Intersect(secondLine, line);
if (intersectionWithFirst || intersectionWithSecond)
{
sentinel = true;
break;
}
}
if (sentinel)
{
break;
}
}
if (sentinel)
{
anglesArray[i, j] = false;
}
else
{
anglesArray[i, j] = true;
positiveCounter++;
if (i%4 == 0 && j % 2 == 0)
{
//firstLine.Stroke = new SolidColorBrush() {Color = Color.FromArgb(50, 0, 255, 0)};
secondLine.Stroke = new SolidColorBrush() {Color = Color.FromArgb(50, 0, 0, 200)};
//lineContainer.Add(firstLine);
secondLine.X1 = secondLine.X2 - 1;
secondLine.Y1 = secondLine.Y2 - 1;
lineContainer.Add(secondLine);
Canvas.Children.Add(secondLine);
}
}
}
int d = 10;
}
private void InitializeRobot()
{
robot = new Robot(dragCanvas);
//IList<Line> lines = robot.GetLines();
//Canvas.Children.Add(lines[0]);
//Canvas.Children.Add(lines[1]);
}