/// <summary>Performs one step of the simulation for one robot.</summary>
/// <param name="r">The robot to perform the simulation step for.</param>
void SimulateOneStep(Robot r)
{
// Set ptR to the location of the robot in room coordinates
RoomPoint ptR = r.Location;
double vectorX = 0, vectorY = 0;
foreach (Robot s in _robots)
{
if (r == s)
{
continue;
}
RoomPoint ptS = s.Location;
double inverseSquareDistance = 1.0 / RoomPoint.Square(ptR.DistanceTo(ptS));
double angle = ptR.AngleTo(ptS);
vectorX -= inverseSquareDistance * Math.Cos(angle);
vectorY -= inverseSquareDistance * Math.Sin(angle);
}
double degrees = Math.Atan2(vectorY, vectorX) * 180 / Math.PI;
degrees += 22.5;
while (degrees < 0)
{
degrees += 360;
}
while (degrees >= 360)
{
degrees -= 360;
}
int direction = (int)(degrees * 8 / 360);
if ((direction == 7) || (direction == 0) || (direction == 1))
{
ptR.X = Math.Min(ptR.X + 1, ROOM_SIZE - 1);
}
else if ((direction == 3) || (direction == 4) || (direction == 5))
{
ptR.X = Math.Max(ptR.X - 1, 0);
}
if ((direction == 1) || (direction == 2) || (direction == 3))
{
ptR.Y = Math.Min(ptR.Y + 1, ROOM_SIZE - 1);
}
else if ((direction == 5) || (direction == 6) || (direction == 7))
{
ptR.Y = Math.Max(ptR.Y - 1, 0);
}
if (((ptR.X != r.Location.X) || (ptR.Y != r.Location.Y)) && _roomCells[ptR.X, ptR.Y] == null)
{
_roomCells[r.Location.X, r.Location.Y] = null;
_roomCells[ptR.X, ptR.Y] = r;
r.Location = new RoomPoint(ptR.X, ptR.Y);
}
}