boxrect.h

多机器人合作中的动态角色分配仿真算法是多机器人合作领域的一个比较著名的仿真软件

//////////////////////////////////////////////////////////////////////
// MuRoS - Multi Robot Simulator
//
// Luiz Chaimowicz
// GRASP Lab. University of Pennsylvania
// VERLab - DCC - UFMG - Brasil
//
// BoxRect.h: interface for the CBoxRect class.
//
//////////////////////////////////////////////////////////////////////

#if !defined(AFX_BOXRECT_H__A1187A3D_09AF_4540_82B5_800618D8649F__INCLUDED_)
#define AFX_BOXRECT_H__A1187A3D_09AF_4540_82B5_800618D8649F__INCLUDED_

#if _MSC_VER > 1000
#pragma once
#endif // _MSC_VER > 1000

#include "Box.h"
#include "Polygon.h"

class CBoxRect : public CBox  
{
public:
	DECLARE_SERIAL(CBoxRect)

	CBoxRect();
	CBoxRect(CRect rect);
	virtual ~CBoxRect();

	void Serialize(CArchive& archive );
	virtual void Draw(CDC *pDC);
	virtual void Update(CArray<CRobot*, CRobot*> *robots, double dt, CMapPath *map);

	void ForceFromObstacles(CObstacle *obst, double &fx, double &fy);

	CPolygon *m_polygon;
};

#endif // !defined(AFX_BOXRECT_H__A1187A3D_09AF_4540_82B5_800618D8649F__INCLUDED_)