void Grid::rebuildGrid()
{
cells.clear();
globalCell = SharedCell(new Cell());
calculateTranslationMatrix();
for (boost::unordered_map<int, Item::SharedArea>::iterator a = core->getData()->areas.begin(); a != core->getData()->areas.end(); ++a)
{
addArea(a->second);
}
for (boost::unordered_map<int, Item::SharedCheckpoint>::iterator c = core->getData()->checkpoints.begin(); c != core->getData()->checkpoints.end(); ++c)
{
addCheckpoint(c->second);
}
for (boost::unordered_map<int, Item::SharedMapIcon>::iterator m = core->getData()->mapIcons.begin(); m != core->getData()->mapIcons.end(); ++m)
{
addMapIcon(m->second);
}
for (boost::unordered_map<int, Item::SharedObject>::iterator o = core->getData()->objects.begin(); o != core->getData()->objects.end(); ++o)
{
addObject(o->second);
}
for (boost::unordered_map<int, Item::SharedPickup>::iterator p = core->getData()->pickups.begin(); p != core->getData()->pickups.end(); ++p)
{
addPickup(p->second);
}
for (boost::unordered_map<int, Item::SharedRaceCheckpoint>::iterator r = core->getData()->raceCheckpoints.begin(); r != core->getData()->raceCheckpoints.end(); ++r)
{
addRaceCheckpoint(r->second);
}
for (boost::unordered_map<int, Item::SharedTextLabel>::iterator t = core->getData()->textLabels.begin(); t != core->getData()->textLabels.end(); ++t)
{
addTextLabel(t->second);
}
}
void Grid::removeCheckpoint(const Item::SharedCheckpoint &checkpoint, bool reassign)
{
bool found = false;
if (checkpoint->cell)
{
boost::unordered_map<CellID, SharedCell>::iterator c = cells.find(checkpoint->cell->cellID);
if (c != cells.end())
{
boost::unordered_map<int, Item::SharedCheckpoint>::iterator d = c->second->checkpoints.find(checkpoint->checkpointID);
if (d != c->second->checkpoints.end())
{
c->second->checkpoints.quick_erase(d);
eraseCellIfEmpty(c->second);
found = true;
}
}
}
else
{
boost::unordered_map<int, Item::SharedCheckpoint>::iterator c = globalCell->checkpoints.find(checkpoint->checkpointID);
if (c != globalCell->checkpoints.end())
{
globalCell->checkpoints.quick_erase(c);
found = true;
}
}
if (found)
{
if (reassign)
{
addCheckpoint(checkpoint);
}
}
}
//return true if there is a collision and do side effect on argument collision (a vec of 2 elements), if not return false
bool Trajectory::isCollision(obstacle &obs)
{
vec collision(2);
vector<vec> obsPoints = obs.getBoundingBox();
for(list<vec>::iterator it = _currentInitCheckpoint; it != prev(_checkpoints.end(),1) ; it++)
{
list<vec>::iterator nextIt = next(it,1);
if(intersection(obsPoints[0], obsPoints[1], *it, *nextIt, collision) ||
intersection(obsPoints[1], obsPoints[2], *it, *nextIt, collision) ||
intersection(obsPoints[2], obsPoints[3], *it, *nextIt, collision) ||
intersection(obsPoints[3], obsPoints[0], *it, *nextIt, collision) )
{
if(it == _currentInitCheckpoint && dist(*it,collision) > dist(*it,_robotPosition))
{
_collisionInitCheckpoint = it;
makeForwardCheckpoint(DIST);
vec direct = obs.getDirection();
addCheckpoint(create2dvec(collision[0] + direct[0]* DEF_LENGHT,collision[1] + direct[1]*DEF_LENGHT));
return true;
}
}
else
cout << "No Collision" << endl;
}
return false;
}
