static void n_DoCommand_Lorbotix_robot_base_DeviceCommand_J(IntPtr jnienv, IntPtr native__this, IntPtr native_p0, long p1)
{
IControlStrategy __this = Java.Lang.Object.GetObject <IControlStrategy> (native__this, JniHandleOwnership.DoNotTransfer);
global::Orbotix.Robot.Base.DeviceCommand p0 = Java.Lang.Object.GetObject <global::Orbotix.Robot.Base.DeviceCommand> (native_p0, JniHandleOwnership.DoNotTransfer);
__this.DoCommand(p0, p1);
}
public void SwitchControl()
{
if (_strategy is MapEditorStrategy)
{
_strategy = new LocationsEditorStrategy(this);
}
else if (_strategy is LocationsEditorStrategy)
{
_strategy = new MapEditorStrategy(this);
}
}
public CarAgent(Model model, float modelRotate, float width, float height, bool opposite, GameObjectType type, IGameStateProvider gameStateProvider, IControlStrategy drivingStrategy)
: base(model, true)
{
_gameStateProvider = gameStateProvider;
Width = width;
HardCodedHeight = height;
ModelRotate = modelRotate;
OppositeDirection = opposite;
if (drivingStrategy != null)
{
_strategy = drivingStrategy;
_strategy.GameObject = this;
}
Type = type;
Id = Guid.NewGuid().ToString();
}
private void BeginSearch()
{
if (_finish.Count != 1)
{
MessageBox.Show("Only single destination point is currently supported.");
return;
}
if (_start.Count < 1)
{
MessageBox.Show("At least one starting point should be provided.");
return;
}
var strategy = _strategy;
_strategy = new IgnoreStrategy();
foreach (var control in MapGrid.Children.Cast <Shape>().Where(c => c.Fill == _waypointBrush))
{
control.Fill = _normalBrush;
}
var tracer = new Tracer <Wave>();
var map = new GridMap(_table);
var destination = _finish.First();
foreach (var location in _start)
{
var route = tracer.FindShortestPath(location, destination, map);
if (route == null)
{
continue;
}
foreach (var waypoint in route.Skip(1).Take(route.Count - 2))
{
var control = MapGrid.Children[(int)(waypoint.X * Columns + waypoint.Y)] as Shape;
control.Fill = _waypointBrush;
}
}
_strategy = strategy;
}
public MainWindow()
{
InitializeComponent();
_normalBrush = (Resources["NormalBrush"] as Brush) ?? new SolidColorBrush(Colors.LightGreen);
_obstacleBrush = (Resources["ObstacleBrush"] as Brush) ?? new SolidColorBrush(Colors.Gray);
_waypointBrush = (Resources["WaypointBrush"] as Brush) ?? new SolidColorBrush(Colors.LightBlue);
_startBrush = (Resources["StartBrush"] as Brush) ?? new SolidColorBrush(Colors.DarkBlue);
_finishBrush = (Resources["FinishBrush"] as Brush) ?? new SolidColorBrush(Colors.Blue);
_strategy = new MapEditorStrategy(this);
MapGrid.Width = Columns * CellWidth;
MapGrid.Height = Rows * CellHeight;
for (int x = 0; x < Columns; x++)
{
MapGrid.ColumnDefinitions.Add(new ColumnDefinition());
}
for (int y = 0; y < Rows; y++)
{
MapGrid.RowDefinitions.Add(new RowDefinition());
}
for (int x = 0; x < Columns; x++)
{
for (int y = 0; y < Rows; y++)
{
_table[x, y] = true;
var control = new Rectangle {
Fill = _normalBrush, Focusable = false
};
control.MouseDown += OnClick;
Grid.SetColumn(control, x);
Grid.SetRow(control, y);
MapGrid.Children.Add(control);
}
}
KeyDown += OnKeyDown;
}
private CarAgent CreateVehicleAgent(Model model, int lane, bool opposite, float y, float vanWidth, float height, float v, float rotation, IControlStrategy drivingStrategy = null)
{
if (drivingStrategy == null)
{
drivingStrategy = new OvertakingStrategy(v, lane, _gameStateProvider);
}
var van = new CarAgent(model, rotation, vanWidth, height, opposite, GameObjectType.Car, _gameStateProvider, drivingStrategy)
{
VY = v,
MaxVY = 100f / 3.6f,
X = GetLaneCenter(lane, opposite),
Y = y
};
return(van);
}
static void n_Close(IntPtr jnienv, IntPtr native__this)
{
IControlStrategy __this = Java.Lang.Object.GetObject <IControlStrategy> (native__this, JniHandleOwnership.DoNotTransfer);
__this.Close();
}
public CarAgent(Model model, float modelRotate, float width, float height, bool opposite,
GameObjectType type, IControlStrategy drivingStrategy)
: this(model, modelRotate, width, height, opposite, type, drivingStrategy, new BasicCollisionStrategy())
{
}
