void ProgObstacle()
{
while (true)
{
for (int i = 0; i < Omgr.Count; i++)
{
double distance;
Obstacle obstacle = Omgr.At(i);
Vect2D vect = GetVectorToTarget(obstacle.pos, 0);
rb.SetV(0);
TurnAbsAngle(vect.GetPhiGrad(), 5);
do
{
double dPhi = GetRelAngle(vect.GetPhiGrad()) / 10;
rb.Set_dPhi(dPhi);
rb.SetV(5);
WaitForUpdate();
distance = vect.VectLength();
vect = GetVectorToTarget(obstacle.pos, 0);
}while (vect.VectLength() < distance);
}
WaitForUpdate();
}
}
void OnMouseDown(object sender, MouseEventArgs e)
{
if (!createRobotsMenue.Checked)
{
label1.Text = RobotMgr.GetInfo(e.Location);
}
if (createObstaclesMenu.Checked)
{
Omgr.NewObstacle(e.Location);
}
else if (createRobotsMenue.Checked)
{
RobotMgr.CreateRobot(int.Parse(_prgNumEd.Text), e.Location);
}
this.Invalidate();
}
void OnPaint(object sender, PaintEventArgs e)
{
RobotMgr.Paint(e.Graphics);
Omgr.Paint(e.Graphics);
}