bool cast(TankMotor.Ray r, Vector2 pos, float rad, Arena.Obstacle obs)
{
Vector2 tan = new Vector2(r.Dir.y, -r.Dir.x);
Vector2 intersection; float t1, t2;
FindIntersection(Motor.Pos, r.Dir, pos, tan,
out intersection,
out t1, out t2);
if (t1 < 0 || Mathf.Abs(t2) > rad)
{
return(false);
}
if (t1 - rad > r.RangeMod * Motor.BaseRange * r.Out_Dis)
{
return(true);
}
float pen = Mathf.Sqrt(rad * rad - t2 * t2);
if (t1 - pen > r.RangeMod * Motor.BaseRange * r.Out_Dis)
{
return(true);
}
if (obs != null)
{
obs.cast(Motor, r);
}
else
{
r.Out_Opponent = 1;
r.Out_Dis = (t1 - pen) / (r.RangeMod * Motor.BaseRange);
}
return(true);
}
void sub(Vector2 dir, Vector2 pos, float mag, ref int oRi, float rad, Arena.Obstacle obs)
{
//int oldRi = oRi;
fixRi(dir, ref oRi);
/*if(obs == null) {
* Debug.Log("mag " + mag + " dir " + dir + " oldRi " + oldRi + " oRi " + oRi);
* return;
* }*/
if (mag < rad && obs != null)
{
Motor.Scanner[oRi].Out_Dis = 0;
for (int ri = oRi, maxIter = Motor.Scanner.Count; ;)
{
ri = (ri + 1) % Motor.Scanner.Count;
var r = Motor.Scanner[ri];
float dt = Vector2.Dot(r.Dir, dir);
if (dt > 0.0f)
{
obs.cast(Motor, r);
}
else
{
break;
}
if (maxIter-- < 0)
{
Debug.LogError("stuck");
return;
}
}
for (int ri = oRi, maxIter = Motor.Scanner.Count; ;)
{
ri = (ri + Motor.Scanner.Count - 1) % Motor.Scanner.Count;
var r = Motor.Scanner[ri];
float dt = Vector2.Dot(r.Dir, dir);
if (dt > 0.0f)
{
obs.cast(Motor, r);
}
else
{
break;
}
if (maxIter-- < 0)
{
Debug.LogError("stuck");
return;
}
}
return;
}
// Gizmos.DrawLine(Motor.Pos, Motor.Pos + dir);
//Gizmos.color = Color.black;
//Gizmos.DrawLine(Motor.Pos, Motor.Pos + Motor.Scanner[o.Ri].Dir *4.0f );
cast(Motor.Scanner[oRi], pos, rad, obs);
for (int ri = oRi, maxIter = Motor.Scanner.Count; ;)
{
ri = (ri + 1) % Motor.Scanner.Count;
if (!cast(Motor.Scanner[ri], pos, rad, obs))
{
break;
}
if (maxIter-- < 0)
{
Debug.LogError("stuck");
return;
}
}
for (int ri = oRi, maxIter = Motor.Scanner.Count; ;)
{
ri = (ri + Motor.Scanner.Count - 1) % Motor.Scanner.Count;
if (!cast(Motor.Scanner[ri], pos, rad, obs))
{
break;
}
if (maxIter-- < 0)
{
Debug.LogError("stuck");
return;
}
}
/* foreach( var r in Motor.Scanner) {
* Vector2 tan = new Vector2(r.Dir.y, -r.Dir.x);
*
*
* Vector2 intersection; float t1, t2;
* FindIntersection(Motor.Pos, r.Dir, obs.Pos, tan,
* out intersection,
* out t1, out t2);
* if( t1 < 0 || Mathf.Abs(t2) > obs.Rad || t1-obs.Rad > r.RangeMod * Motor.BaseRange) continue;
*
* float pen = Mathf.Sqrt(obs.Rad * obs.Rad - t2 * t2);
* if(t1 - pen > r.RangeMod * Motor.BaseRange) continue;
* //|| t1 > r.RangeMod * Motor.BaseRange
* // Debug.Log("t1 " + t1 + " t2 " + t2 + " obs.Rad " + obs.Rad + " r.RangeMod * Motor.BaseRange " + (r.RangeMod * Motor.BaseRange));
* Gizmos.color = Color.blue;
* Gizmos.DrawLine(obs.Pos, intersection);
*
* intersection = Motor.Pos + r.Dir * (t1 - pen);
* Gizmos.color = Color.red;
* Gizmos.DrawLine(Motor.Pos, intersection);
*
* Gizmos.color = Color.black;
* Gizmos.DrawLine(Motor.Pos, Motor.Pos + r.Dir*4);
* } */
}
