public double getDistance()
{
// Retrieve the environment
Environment env = Environment.Instance;
double maxDistance = -1;
// Create the range segment
this.range = new Segment();
range.Start.X = env.AgentPosition.X;
range.Start.Y = env.AgentPosition.Y;
range.End.X = env.AgentPosition.X;
range.End.Y = env.AgentPosition.Y + length;
range = range.Rotate(env.AgentAngle + angleOffset);
// Go through the list of segments, not neat O(n) but execution
// fast enough for this simulation purpose
foreach (Segment s in env.Segments)
{
Point p;
if ((p = range.Intersects(s)) != null)
{
double v = p.Distance(range.Start);
if (v < maxDistance || maxDistance == -1)
{
maxDistance = v;
}
}
}
return(maxDistance);
}
public double getDistance()
{
// Retrieve the environment
Environment env = Environment.Instance;
double maxDistance = -1;
// Create the range segment
this.range = new Segment();
range.Start.X = env.AgentPosition.X;
range.Start.Y = env.AgentPosition.Y;
range.End.X = env.AgentPosition.X;
range.End.Y = env.AgentPosition.Y + length;
range = range.Rotate(env.AgentAngle + angleOffset);
// Go through the list of segments, not neat O(n) but execution
// fast enough for this simulation purpose
foreach (Segment s in env.Segments)
{
Point p;
if ((p = range.Intersects(s)) != null)
{
double v = p.Distance(range.Start);
if (v < maxDistance || maxDistance == -1)
{
maxDistance = v;
}
}
}
return maxDistance;
}
public void straight(int speed)
{
Environment env = Environment.Instance;
Segment nextPos = new Segment();
nextPos.Start.X = env.AgentPosition.X;
nextPos.Start.Y = env.AgentPosition.Y;
nextPos.End.X = env.AgentPosition.X;
//nextPos.End.Y = env.AgentPosition.Y + (longDistance > 0 ? Math.Min(longDistance, 1) : 1);
nextPos.End.Y = env.AgentPosition.Y + 1;
nextPos = nextPos.Rotate(env.AgentAngle);
env.AgentPosition = nextPos.End;
}
public void straight(int speed)
{
Environment env = Environment.Instance;
Segment nextPos = new Segment();
nextPos.Start.X = env.AgentPosition.X;
nextPos.Start.Y = env.AgentPosition.Y;
nextPos.End.X = env.AgentPosition.X;
//nextPos.End.Y = env.AgentPosition.Y + (longDistance > 0 ? Math.Min(longDistance, 1) : 1);
nextPos.End.Y = env.AgentPosition.Y + 1;
nextPos = nextPos.Rotate(env.AgentAngle);
env.AgentPosition = nextPos.End;
}
public Point CurrentPosition(double distance, double angle)
{
Point p;
if (previous == null)
{
p = new Point(distance, 0);
}
else
{
// Touched a wall
Segment s = new Segment();
s.Start = previous.Coord;
s.End = s.Start;
s.End.X += distance;
p = new Point(s.Rotate(angle).End);
}
return(p);
}
public Point CurrentPosition(double distance, double angle)
{
Point p;
if (previous == null)
{
p = new Point(distance, 0);
}
else
{
// Touched a wall
Segment s = new Segment();
s.Start = previous.Coord;
s.End = s.Start;
s.End.X += distance;
p = new Point(s.Rotate(angle).End);
}
return p;
}