kill beam

simulator/src/main.rs

@@ -83,13 +83,33 @@ impl Robot {
             .map(|contact| contact.point1.distance(self.pose.translation)).reduce(|x: f32,y: f32| x.min(y))
     }
 
-    pub fn policy(&mut self, sensor: &Sensor){
+    fn draw_weapon(&self) {
+        let tl = self.pose.translation;
+        draw_circle(tl.x, tl.y, 80.0, ORANGE);
+    }
+
+    fn weapon<'a>(&self, peers: impl Iterator<Item = &'a dyn Mortal>) {
+        let weapon = Ball::new(80.0);
+
+        for peer in peers {
+            let (p_p, p_c) = peer.collider();
+
+            if let Some(_) = contact(&self.pose, &weapon, p_p , p_c, 0.0).unwrap() {
+                peer.kill();
+            }
+
+        }
+    }
+
+    pub fn policy(&mut self, sensor: &Sensor) -> bool{
         match sensor {
             Sensor::Food => self.move_step(1.0, 0.0),
             Sensor::Kin => self.move_step(-0.3, 0.02),
-            Sensor::NonKin => self.move_step(-0.3, 1.02),
+            Sensor::NonKin => self.move_step(-0.3, 0.02),
             Sensor::None => self.move_step(0.3, 0.01),
         }
+
+        return *sensor == Sensor::NonKin;
     }
 }
 
@@ -99,6 +119,7 @@ struct Food {
     alive: AtomicBool,
 }
 
+#[derive(PartialEq, Eq)]
 enum Sensor {
     Food,
     Kin,
@@ -171,7 +192,7 @@ async fn run_simulation() -> (i32, i32) {
 
     let mut loo = 0;
     loop {
-        let rendered = loo %100 == 0;
+        let rendered = loo %1 == 0;
         clear_background(LIGHTGRAY);
 
         for food in &mut food{
@@ -182,10 +203,10 @@ async fn run_simulation() -> (i32, i32) {
                 }
             }
             if rendered { food.draw(); }
-            // TODO: die upon collision with robot
         }
 
         food = food.into_iter().filter(Mortal::living).collect(); // remove dead food
+        robots = robots.into_iter().filter(Mortal::living).collect(); // remove dead robots
 
         let mut sensors = Vec::new();
         for robot in &*robots {
@@ -210,8 +231,19 @@ async fn run_simulation() -> (i32, i32) {
 
             sensors.push(sensor);
         }
-        for (idx, robot) in robots.iter_mut().enumerate() {
+        for idx in 0..robots.len() {
-            robot.policy(&sensors[idx]);
+            let (before, after) = robots.split_at_mut(idx);
+            let (robot, after) = after.split_first_mut().unwrap();
+            let robots = before.iter().chain(after.iter());
+
+            let robots = robots.map(|r| r as &dyn Mortal);
+            let peers = robots.chain(food.iter().map(|f| f as &dyn Mortal));
+
+            let death = robot.policy(&sensors[idx]);
+            if death {
+                if rendered {robot.draw_weapon();}
+                robot.weapon(peers);
+            }
             if rendered { robot.draw();}
         }
         if rendered {