/// <summary>
/// Checks the conic area defined by a radar sensor for detectable objects.
/// </summary>
/// <returns>Distance to the closest object.</returns>
public static double scanCone(Radar radar, List<SimulatorObject> objList)
{
double distance = radar.MaxRange;
double new_distance;
double heading=radar.Owner.Heading;
Point2D point=new Point2D(radar.Owner.Location.X,radar.Owner.Location.Y);
double startAngle = radar.StartAngle + heading;
double endAngle = radar.EndAngle + heading;
double twoPi = 2 * Math.PI;
if (startAngle < 0)
{
startAngle += twoPi;
}
else if (startAngle > twoPi)
{
startAngle -= twoPi;
}
if (endAngle < 0)
{
endAngle += twoPi;
}
else if (endAngle > twoPi)
{
endAngle -= twoPi;
}
foreach (SimulatorObject obj in objList)
{
bool found = false;
if (obj == radar.Owner)
continue;
new_distance = point.distance(obj.Location);
double angle = Math.Atan2(obj.Location.Y - point.Y, obj.Location.X - point.X);
if (angle < 0)
{
angle += Utilities.twoPi;
}
if (endAngle < startAngle)
{
if ((angle >= startAngle && angle <= Math.PI * 2) || (angle >= 0 && angle <= endAngle))
{
found = true;
}
}
else if ((angle >= startAngle && angle <= endAngle))
found = true;
if (found)
{
if (new_distance < distance)
{
distance = new_distance;
}
}
}
return distance;
}
/// <summary>
/// Checks the conic area defined by a radar sensor for detectable objects.
/// </summary>
/// <returns>Distance to the closest object.</returns>
public static double scanCone(Radar radar, List <SimulatorObject> objList)
{
double distance = radar.MaxRange;
double new_distance;
double heading = radar.Owner.Heading;
Point2D point = new Point2D(radar.Owner.Location.X, radar.Owner.Location.Y);
double startAngle = radar.StartAngle + heading;
double endAngle = radar.EndAngle + heading;
double twoPi = 2 * Math.PI;
if (startAngle < 0)
{
startAngle += twoPi;
}
else if (startAngle > twoPi)
{
startAngle -= twoPi;
}
if (endAngle < 0)
{
endAngle += twoPi;
}
else if (endAngle > twoPi)
{
endAngle -= twoPi;
}
foreach (SimulatorObject obj in objList)
{
bool found = false;
if (obj == radar.Owner)
{
continue;
}
new_distance = point.distance(obj.Location);
double angle = Math.Atan2(obj.Location.Y - point.Y, obj.Location.X - point.X);
if (angle < 0)
{
angle += Utilities.twoPi;
}
if (endAngle < startAngle)
{
if ((angle >= startAngle && angle <= Math.PI * 2) || (angle >= 0 && angle <= endAngle))
{
found = true;
}
}
else if ((angle >= startAngle && angle <= endAngle))
{
found = true;
}
if (found)
{
if (new_distance < distance)
{
distance = new_distance;
}
}
}
return(distance);
}
