public void Quarry(Point centralPoint, float widthOfSearch, List <Neighbour> found)
{
if (!IntersectsWithRect(centralPoint.loc.X, centralPoint.loc.Y, widthOfSearch))
{
return;
}
else
{
colour = new Vector3(1, 1, 0);
foreach (Point other in points)
{
if (centralPoint != other && Contains(other.loc, new Vector2(centralPoint.loc.X, centralPoint.loc.Y), new Vector2(widthOfSearch, widthOfSearch)))
{
found.Add(new Neighbour(other, Vector2.Distance(centralPoint.loc, other.loc)));
}
}
}
if (isDivided)
{
topleft.Quarry(centralPoint, widthOfSearch, found);
topright.Quarry(centralPoint, widthOfSearch, found);
botleft.Quarry(centralPoint, widthOfSearch, found);
botright.Quarry(centralPoint, widthOfSearch, found);
}
}
public void SeekFood(QTree foodQTree)
{
foreach (var ant in ants)
{
if (!ant.isCarryingFood)
{
List <Neighbour> neibs = new List <Neighbour>();
foodQTree.Quarry(new Point(ant.loc + ant.vel.Normalized() * ant.size * 1.5f), ant.size * 3.0f, neibs);
if (neibs.Count != 0)
{
Neighbour minNeib = neibs[0];
float minDist = Vector2.Distance(neibs[0].point.loc, ant.loc);
foreach (var n in neibs)
{
float dist = Vector2.Distance(n.point.loc, ant.loc);
if (dist < minDist)
{
minDist = dist;
minNeib = n;
}
}
if (minDist < ant.size)
{
ant.isCarryingFood = true;
ant.vel *= -1;
}
else
{
ant.Steer(minNeib.point.loc);
}
}
}
}
}