public World()
{
robot1 = CreateRobot("r1", 0, 0.301, 0, 50);
robot2 = CreateRobot("r2", 0, 0.301, -4, 100);
robot3 = CreateRobot("r3", 0, 0.301, -8, 150);
robot4 = CreateRobot("r4", 0, 0.301, -12, 200);
thunderhawk = CreateTH(-150, 0.001, -21);
MakeNodes(23 /* + 64*/);
shelf1 = CreateShelf(-300, 1.401, -300);
shelf2 = CreateShelf(-300, 1.401, -300);
shelf3 = CreateShelf(-300, 1.401, -300);
shelf4 = CreateShelf(-300, 1.401, -300);
shelf5 = CreateShelf(-300, 1.401, -300);
shelf6 = CreateShelf(-300, 1.401, -300);
shelf7 = CreateShelf(-300, 1.401, -300);
shelf8 = CreateShelf(-300, 1.401, -300);
shelf9 = CreateShelf(-300, 1.401, -300);
shelf10 = CreateShelf(-300, 1.401, -300);
shelf11 = CreateShelf(-300, 1.401, -300);
shelf12 = CreateShelf(-300, 1.401, -300);
shelf13 = CreateShelf(-300, 1.401, -300);
shelf14 = CreateShelf(-300, 1.401, -300);
shelf15 = CreateShelf(-300, 1.401, -300);
shelf16 = CreateShelf(-300, 1.401, -300);
shelf17 = CreateShelf(-300, 1.401, -300);
shelf18 = CreateShelf(-300, 1.401, -300);
shelf19 = CreateShelf(-300, 1.401, -300);
shelf20 = CreateShelf(-300, 1.401, -300);
graph = new Graph();
graph = Graphy();
taskClass = new Tasks(this, this.worldObjects.ToList());
}
private ThunderHawk CreateTH(double x, double y, double z)
{
ThunderHawk t = new ThunderHawk(x, y, z, 0, (90 * Math.PI / 180), 0);
worldObjects.Add(t);
return(t);
}
public void Update()
{
ThunderHawk thunderhawk = (ThunderHawk)worldObjects[4];
Robot robot1 = (Robot)worldObjects[0];
Robot robot2 = (Robot)worldObjects[1];
Robot robot3 = (Robot)worldObjects[2];
Robot robot4 = (Robot)worldObjects[3];
Shelf shelf1 = (Shelf)worldObjects[28 + (4 * cycles)];
Shelf shelf2 = (Shelf)worldObjects[29 + (4 * cycles)];
Shelf shelf3 = (Shelf)worldObjects[30 + (4 * cycles)];
Shelf shelf4 = (Shelf)worldObjects[31 + (4 * cycles)];
if (thunderhawk.thunderhawkHere == true)
{
robot1.ChangeThunderhawkHere(true);
robot2.ChangeThunderhawkHere(true);
robot3.ChangeThunderhawkHere(true);
robot4.ChangeThunderhawkHere(true);
}
if (robot1.robotReady == true)
{
MoveShelf(robot1, shelf1, robot1.x, robot1.y, robot1.z);
robot1.ChangeShelf(shelf1);
robot1.ChangeRobotReady(false);
robot1.ChangeRobotLoaded(true);
ReadySetGo++;
}
if (robot2.robotReady == true)
{
MoveShelf(robot2, shelf2, robot2.x, robot2.y, robot2.z);
robot2.ChangeShelf(shelf2);
robot2.ChangeRobotReady(false);
robot2.ChangeRobotLoaded(true);
ReadySetGo++;
}
if (robot3.robotReady == true)
{
MoveShelf(robot3, shelf3, robot3.x, robot3.y, robot3.z);
robot3.ChangeShelf(shelf3);
robot3.ChangeRobotReady(false);
robot3.ChangeRobotLoaded(true);
ReadySetGo++;
}
if (robot4.robotReady == true)
{
MoveShelf(robot4, shelf4, robot4.x, robot4.y, robot4.z);
robot4.ChangeShelf(shelf4);
robot4.ChangeRobotReady(false);
robot4.ChangeRobotLoaded(true);
ReadySetGo++;
}
if (robot1.robotDropped == true)
{
world.RobotGoesBack(robot1, robot1.target, "A");
}
if (robot2.robotDropped == true)
{
world.RobotGoesBack(robot2, robot2.target, "null1");
}
if (robot3.robotDropped == true)
{
world.RobotGoesBack(robot3, robot3.target, "null2");
}
if (robot4.robotDropped == true)
{
world.RobotGoesBack(robot4, robot4.target, "null3");
}
if (ReadySetGo == 4)
{
thunderhawk.ChangeThunderhawkEmpty(true);
robot1.ChangeRobotDone(false);
robot2.ChangeRobotDone(false);
robot3.ChangeRobotDone(false);
robot4.ChangeRobotDone(false);
ReadySetGo++;
world.THHere();
}
if (robot1.robotReset == true && robot2.robotReset == true && robot3.robotReset == true && robot4.robotReset == true)
{
ReadySetGo = 0;
cycles++;
robot1.RESET();
robot2.RESET();
robot3.RESET();
robot4.RESET();
thunderhawk.RESET();
}
}