Fixed collision detection in probes
This was a problem before when the probe hit an object that was further than another object first. Now we traverse all objects all the time to find the closest one. \o/
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72d5a1a64c
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7971198c17
@ -62,7 +62,9 @@ func (p *Projectile) Tick(g *game) {
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collision, _, pos := v.RectIntersection(obj.Bounds, p.Position, travel)
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if collision {
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arrived = true
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p.Position = pos
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if pos != nil {
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p.Position = *pos
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}
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obj.Hp -= p.Damage
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// if obj.Hp < 0 {
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// delete(g.obstacles, i)
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@ -70,7 +72,9 @@ func (p *Projectile) Tick(g *game) {
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}
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}
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} else {
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p.Position = pos
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if pos != nil {
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p.Position = *pos
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}
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}
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if arrived || hit_player {
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85
robot.go
85
robot.go
@ -165,17 +165,28 @@ type Instruction struct {
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Scan *bool `json:"scan,omitempty"`
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}
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func (r *Robot) checkCollisions(g *game, move_vector v.Vector2d) (bool, v.Point2d, *Robot) {
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// returns collision, the intersection point, and the robot with whom r has
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// collided, if this happened.
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func (r *Robot) checkCollisions(g *game, probe v.Vector2d) (bool, *v.Point2d, *Robot) {
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finalCollision := false
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collision := false
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intersection_point := v.Point2d{X: 0, Y: 0}
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bot_size := float32(5.0)
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bot_polygon := v.OrientedSquare(r.Position, r.Heading, bot_size)
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closest := float32(math.Inf(1))
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var intersection *v.Point2d
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var finalRobot *Robot
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// TODO: this needs moved to the conf?
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botSize := float32(5.0)
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botPolygon := v.OrientedSquare(r.Position, r.Heading, botSize)
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// Check Walls
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r_walls := v.AABB2d{A: v.Point2d{X: bot_size, Y: bot_size}, B: v.Point2d{X: g.width - bot_size, Y: g.height - bot_size}}
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collision, _, pos := v.RectIntersection(r_walls, r.Position, move_vector)
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if collision {
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return collision, pos, nil
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r_walls := v.AABB2d{A: v.Point2d{X: botSize, Y: botSize}, B: v.Point2d{X: g.width - botSize, Y: g.height - botSize}}
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collision, _, wallIntersect := v.RectIntersection(r_walls, r.Position, probe)
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if collision && wallIntersect != nil {
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finalCollision = collision
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if dist := r.Position.Sub(*wallIntersect).Mag(); dist < closest {
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intersection = wallIntersect
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closest = dist
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}
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}
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// Check Other Bots
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@ -184,29 +195,47 @@ func (r *Robot) checkCollisions(g *game, move_vector v.Vector2d) (bool, v.Point2
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if bot.Id == r.Id {
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continue
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}
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player_rect := v.OrientedSquare(bot.Position, bot.Heading, bot_size)
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player_rect := v.OrientedSquare(bot.Position, bot.Heading, botSize)
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collision, move_collision, translation := v.PolyPolyIntersection(
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bot_polygon, move_vector, player_rect)
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botPolygon, probe, player_rect)
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if collision || move_collision {
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return true, r.Position.Add(move_vector).Add(translation.Scale(1.1)), bot
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finalCollision = collision
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p := r.Position.Add(probe).Add(translation.Scale(1.2))
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if dist := r.Position.Sub(p).Mag(); dist < closest {
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intersection = &p
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closest = dist
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finalRobot = bot
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}
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}
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}
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}
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// Check Obstacles
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for _, obj := range g.obstacles {
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// collision due to motion:
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collision, move_collision, translation := v.PolyPolyIntersection(
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botPolygon, probe, obj.Bounds.ToPolygon())
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if collision || move_collision {
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finalCollision = collision
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p := r.Position.Add(probe).Add(translation.Scale(1.1))
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if dist := r.Position.Sub(p).Mag(); dist < closest {
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intersection = &p
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closest = dist
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}
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}
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// collision due to probe
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collision, _, wallIntersect := v.RectIntersection(obj.Bounds, r.Position, probe)
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if collision && wallIntersect != nil {
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finalCollision = collision
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if dist := r.Position.Sub(*wallIntersect).Mag(); dist < closest {
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intersection = wallIntersect
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closest = dist
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}
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}
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}
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// Check Obstacles
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for _, obj := range g.obstacles {
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collision, move_collision, translation := v.PolyPolyIntersection(
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bot_polygon, move_vector, obj.Bounds.ToPolygon())
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if collision || move_collision {
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// log.Printf(" COLLISION: %v %v %v\n", collision, move_collition, translation)
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// log.Printf(" DETAILS: %v %v\n", r.Position, move_vector)
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// log.Printf(" INPUT: %v %v %v\n", bot_polygon, obj.Bounds.ToPolygon(), obj.Bounds)
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return true, r.Position.Add(move_vector).Add(translation.Scale(1.1)), nil
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}
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}
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return collision, intersection_point, nil
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return finalCollision, intersection, finalRobot
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}
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func (r *Robot) Tick(g *game) {
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@ -287,8 +316,8 @@ func (r *Robot) Tick(g *game) {
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}
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}
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if r.Position != intersection_point {
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r.Position = intersection_point
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if r.Position != *intersection_point {
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r.Position = *intersection_point
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}
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r.Health -= dmg
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@ -343,7 +372,7 @@ func (r *Robot) Tick(g *game) {
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probe_vector := r.Probe.Sub(r.Position)
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coll, pos, _ := r.checkCollisions(g, probe_vector)
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if coll {
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r.ProbeResult = &pos
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r.ProbeResult = pos
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}
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}
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}
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91
robot_test.go
Normal file
91
robot_test.go
Normal file
@ -0,0 +1,91 @@
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package main
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import (
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v "bitbucket.org/hackerbots/vector"
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"math"
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"testing"
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)
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func TestCollision(t *testing.T) {
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tests := []struct {
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g game
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r Robot
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target v.Vector2d
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location *v.Point2d
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collision bool
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}{
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// should intersect with first box
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{
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g: game{
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width: 800,
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height: 400,
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obstacles: []Obstacle{
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Obstacle{
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Bounds: v.AABB2d{
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v.Point2d{200, 100},
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v.Point2d{300, 200},
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},
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},
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Obstacle{
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Bounds: v.AABB2d{
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v.Point2d{400, 200},
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v.Point2d{600, 300},
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},
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},
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},
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},
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r: Robot{
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Position: v.Point2d{100, 100},
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// Heading: v.Vector2d{1, 1},
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},
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target: v.Vector2d{900, 350},
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location: &v.Point2d{200, 138.88889},
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collision: true,
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},
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// shouldn't intersect at all
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{
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g: game{
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width: 800,
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height: 400,
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obstacles: []Obstacle{
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Obstacle{
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Bounds: v.AABB2d{
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v.Point2d{200, 100},
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v.Point2d{300, 200},
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},
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},
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},
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},
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r: Robot{
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Position: v.Point2d{100, 100},
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},
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target: v.Vector2d{0, 0},
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collision: false,
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},
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}
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for _, test := range tests {
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collision, location, _ := test.r.checkCollisions(&test.g, test.target)
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if collision != test.collision {
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t.Errorf("expected: %t, actual: %t", test.collision, collision)
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}
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if test.location == nil {
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if location != nil {
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t.Errorf("expected: %+v, actual: %+v", test.location, location)
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}
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}
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if test.location != nil {
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if location == nil {
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t.Errorf("expected: %+v, actual: %+v", test.location, location)
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} else {
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if math.Abs(float64(location.X-test.location.X)) > 1e-4 || math.Abs(float64(location.Y-test.location.Y)) > 1e-4 {
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t.Errorf("expected: %+v, actual: %+v", test.location, location)
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}
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}
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}
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}
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}
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// XXX
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func TestBotBotCollisions(t *testing.T) {
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t.Skip("NYI")
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}
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