controllerimpl method calls with chirality

Author: hannah-y-gao

engine/src/main/battlecode/world/RobotControllerImpl.java

@@ -541,7 +541,7 @@ public RobotInfo[] senseNearbyRobots(MapLocation center, int radiusSquared, Team
                                                                                                                    // bottom
                                                                                                                    // left
                                                                                                                    // corner
-        InternalRobot[] allSensedRobots = gameWorld.getAllRobotsWithinRadiusSquared(center, actualRadiusSquared, team);
+        InternalRobot[] allSensedRobots = gameWorld.getAllRobotsWithinRadiusSquared(center, actualRadiusSquared, team, this.robot.getChirality());
         List<RobotInfo> validSensedRobots = new ArrayList<>();
         for (InternalRobot sensedRobot : allSensedRobots) {
             // check if this robot
@@ -599,7 +599,7 @@ public MapInfo[] senseNearbyMapInfos(MapLocation center, int radiusSquared) thro
         int actualRadiusSquared = radiusSquared == -1 ? this.getType().visionConeRadiusSquared
                 : Math.min(radiusSquared, this.getType().visionConeRadiusSquared);
         MapLocation[] allSensedLocs = gameWorld.getAllLocationsWithinRadiusSquared(center,
-                (int) ((Math.sqrt(actualRadiusSquared) + 2) * (Math.sqrt(actualRadiusSquared) + 2))); // expand slightly
+                (int) ((Math.sqrt(actualRadiusSquared) + 2) * (Math.sqrt(actualRadiusSquared) + 2)), this.robot.getChirality()); // expand slightly
                                                                                                       // to allow
                                                                                                       // off-center
                                                                                                       // sensing
@@ -628,7 +628,7 @@ public MapLocation[] getAllLocationsWithinRadiusSquared(MapLocation center, int
         int actualRadiusSquared = radiusSquared == -1 ? this.robot.getVisionRadiusSquared()
                 : Math.min(radiusSquared, this.robot.getVisionRadiusSquared());
         MapLocation[] possibleLocs = this.gameWorld.getAllLocationsWithinConeRadiusSquared(center,
-                this.robot.getDirection(), this.robot.getVisionConeAngle(), actualRadiusSquared);
+                this.robot.getDirection(), this.robot.getVisionConeAngle(), actualRadiusSquared, this.robot.getChirality());
         List<MapLocation> visibleLocs = Arrays.asList(possibleLocs).stream().filter(x -> canSenseLocation(x))
                 .collect(Collectors.toList());
         return visibleLocs.toArray(new MapLocation[visibleLocs.size()]);