double Map::handleObstacles(Robot& robot, const vector<Point>& obstacles)
{
double robotX = robot.getX();
double robotY = robot.getY();
Point initalPoint(robotX, robotY);
double matchPercent = handleObstacles(initalPoint, obstacles);
return matchPercent;
}
double Map::update(double x, double y, double yaw, const Laser& laser)
{
// Handle new Obstacles
vector<Point> obstacles;
laser.getObstacles(x, y, yaw, obstacles);
Point initalPoint(x, y);
double matchPercent = handleObstacles(initalPoint, obstacles);
return matchPercent;
}
void displace() {
if(angry > 0)
angry -= 0.0001;
flapWing();
flapWingPred();
handlePaths();
handleObstacles();
predatorPolygonCollision();
handleFlockingPhysics();
eggManagement();
handlePredatoryBehavior();
rotateToLeader();
glutPostRedisplay();
}
