void USSensor::updateValue(double curAngle, Point currentPosition, Map *map) {
double sensorAngle = fmod(curAngle + this->angle + 2*PI, 2*PI);
Line sensorLine = getSensorLine(currentPosition, sensorAngle);
double distance = INFINITY;
for (std::vector<LineSegment>::iterator it = map->lines.begin();
it != map->lines.end(); ++it) {
LineSegment segment = *it;
distance = checkSegment(segment, sensorLine, sensorAngle, currentPosition, distance);
}
LineSegment bombSegments[4];
map->bomb.getLineSegments(bombSegments);
for (int i = 0; i < 4; i++) {
LineSegment segment = bombSegments[i];
distance = checkSegment(segment, sensorLine, sensorAngle, currentPosition, distance);
}
//printf("Sensor %d updated to value %f\n", this->num, distance);
this->value = distance;
}
int main(int argc, char** argv)
{
FILE *f = fopen(argv[1], "r");
if(argc != 2 || f == NULL)
{
printf("Usage: %s FILE\n", argv[0]);
return 1;
}
int output = checkSegment(f, EOF);
if(output != 0)
printf("There was an error!\n");
return output;
}
