added food spheres

simulator/src/main.rs

@@ -36,35 +36,65 @@ impl Robot {
         let tl2 = self.view_end();
         draw_circle(tl.x, tl.y, BOT_RADIUS, BLACK);
         draw_line(tl.x, tl.y, tl2.x, tl2.y, 2.0, BLUE);
-        draw_circle(tl.x, tl.y, BOT_RADIUS-1.0, YELLOW);
+        draw_circle(tl.x, tl.y, BOT_RADIUS-1.0, RED);
     }
 
     fn view_end(&self) -> Vec2 {
         self.pose.translation + self.ahead() * VIEW_DIST
     }
 
-    fn detect(&self, things: &[(&Pose, &dyn Shape)]) -> Option<f32> {
+    fn detect<'a>(&self, things: impl Iterator<Item = (&'a Pose, &'a dyn Shape)>) -> Option<f32> {
         let collider = Ball::new(BOT_RADIUS);
-        things.iter()
+        things
             .map(|thing| contact(&self.pose, &collider, thing.0, thing.1, 0.0).unwrap()).flatten()
-            .map(|contactl| contactl.point1.distance(self.pose.translation)).reduce(|x,y| x.min(y))
+            .map(|contactl| contactl.point1.distance(self.pose.translation)).reduce(|x: f32,y: f32| x.min(y))
     }
 }
 
+struct Food {
+    pose: Pose,
+    collider: Ball,
+    alive: bool,
+}
+
+impl Food {
+    fn new(position: Vec2) -> Self {
+        let pose:Pose = Pose::from_translation(position.to_array().into());
+        Self { pose, alive: true, collider: Ball::new(BOT_RADIUS) }
+    }
+
+    pub fn draw(&self) {
+        let tl = self.pose.translation;
+        draw_circle(tl.x, tl.y, BOT_RADIUS, BLACK);
+        draw_circle(tl.x, tl.y, BOT_RADIUS-1.0, GREEN);
+    }
+
+    pub fn collider(&self) -> (&Pose, &dyn Shape) {
+        (&self.pose, &self.collider)
+    }
+}
+
+
 #[macroquad::main("Adversarial Foraging Simulator")]
 async fn main() {
 
     let mut robots = Vec::new();
-
     robots.push(Robot::new(Vec2 { x: 100.0, y: 100.0 }));
 
+    let mut food = Vec::new();
+    food.push(Food::new(Vec2 { x: 100.0, y: 100.0 }));
+
     loop {
         clear_background(LIGHTGRAY);
 
+        for food in &food{
+            food.draw();
+        }
 
         for robot in &mut robots {
             robot.move_step(1.1,0.01);
             println!("loop");
+            println!("Food detection: {:?}",robot.detect(food.iter().map(Food::collider)));
             robot.draw();
         }
         draw_text("HELLO", 20.0, 20.0, 30.0, DARKGRAY);