/// <inheritdoc/>
public Vector3 ConvertFromRelativeToAbsolute(RelativeCoordinate relativeCoordinate)
{
#if DEBUG
Log($"relativeCoordinate = {relativeCoordinate}");
#endif
var invocableInMainThreadObj = new InvocableInMainThreadObj <Vector3>(() => {
return(_platformSupport.ConvertFromRelativeToAbsolute(relativeCoordinate));
}, _invokerInMainThread);
return(invocableInMainThreadObj.Run());
}
/// <summary>
/// Recreates a marker out of the encoded information.
/// </summary>
/// <param name="encoded">The encoded information integer.</param>
public Signal(int encoded)
{
// Decode info type from lowest 4 Bits
InfoType = (byte)(encoded & 0xF);
// Decode coordinates from third highest to fifth lowest bit
int coordinates = (encoded & 0x3FFFFFF0) >> 4;
Coordinates = new RelativeCoordinate(GetInt32(coordinates >> 13), GetInt32(coordinates & 0x1FFF));
// Decode hop count from two highest bits
HopCount = (short)((encoded >> 30) & 0x3);
}
/// <summary>
/// Let's the ant move to the given coordinates.
/// </summary>
/// <param name="coordinate">The ant's next coordinates.</param>
protected void GoTo(RelativeCoordinate coordinate)
{
// Return if reference anthill not given
if (Anthill == null)
{
return;
}
// Get own coordinates
RelativeCoordinate ownCoordinate = GetCoordinate();
if (coordinate == null || ownCoordinate == null)
{
return;
}
// Get Coordinate differences
double x = coordinate.X - ownCoordinate.X;
double y = coordinate.Y - ownCoordinate.Y;
// Calculate distance
double distance = Math.Sqrt(Math.Pow(x, 2) + Math.Pow(y, 2));
if (distance == 0)
{
return;
}
// Calculate degree
double degree = Math.Atan(y / x) * 180 / Math.PI;
degree += 360;
if (x < 0)
{
degree += 180;
}
degree %= 360;
// Go to distance on degree
GoTo((int)degree, (int)distance);
}
public Vector3 ConvertFromRelativeToAbsolute(RelativeCoordinate relativeCoordinate)
{
return(new Vector3(666, 999, 0));
}
/// <summary>
/// Creates a new marker information instance.
/// </summary>
/// <param name="infoType">The type of information to be sent.</param>
/// <param name="coordinates">The coordinates where to find the object of interest.</param>
public Signal(byte infoType, RelativeCoordinate coordinates)
{
// Save type and coordinates
InfoType = infoType;
Coordinates = coordinates;
}
/// <inheritdoc/>
public Vector3 ConvertFromRelativeToAbsolute(RelativeCoordinate relativeCoordinate)
{
return(_platformSupport.ConvertFromRelativeToAbsolute(relativeCoordinate));
}
/// <summary>
/// Gets the distance to the given coordinates.
/// </summary>
/// <param name="item">The coordinates to be checked.</param>
/// <returns>Returns the distance to the given coordinates.</returns>
protected int GetDistanceTo(RelativeCoordinate coordinate)
{
// Calculate distance from own coordinates to given coordinates
return(GetCoordinate().GetDistanceTo(coordinate));
}
