private void MoveForward(RobotVacuum vacuum)
{
if (movesMade == movesUntilTurn)
{
vacuum.RotateN(vacuum.GetRotation() + 90);
if (vacuum.GetRotation() == 360)
{
vacuum.RotateN(0);
}
movesUntilTurn += 3;
movesMade = 0;
}
if (_checker.CollisionOccured(vacuum))
{
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
movesMade = 0;
movesUntilTurn = 1;
Random random = new Random();
movesUntilResume = random.Next(50, 151);
int[] rotations = { 0, 90, 180, 270 };
vacuum.RotateN(rotations[random.Next(0, rotations.Length)]);
}
if (vacuum.GetRotation() == 0)
{
vacuum.Y -= 5;
}
else if (vacuum.GetRotation() == 90)
{
vacuum.X += 5;
}
else if (vacuum.GetRotation() == 180)
{
vacuum.Y += 5;
}
else if (vacuum.GetRotation() == 270)
{
vacuum.X -= 5;
}
if (movesUntilResume == 0)
{
movesMade += 1;
}
else
{
movesUntilResume--;
}
}
private void NextRotation(RobotVacuum vacuum)
{
Random _rnd = new Random();
int[] rotations = { 0, 22, 45, 67, 90, 112, 135, 157, 180, 202, 225, 247, 270, 292, 315, 337 };
int degree = _rnd.Next(0, rotations.Length);
vacuum.RotateN(rotations[degree]);
}
public void NextMove(RobotVacuum vacuum)
{
_checker = RobotVacuum.Vacuum.Checker;
if (_checker.CollisionOccured(vacuum) && _checker.NorthSouthWallCollision && _checker.SideWallCollision && vacuum.X >= 820)
{
if (vacuum.Y < 0)
{
vacuum.RotateN(90);
Reverse(vacuum);
Reverse(vacuum);
vacuum.RotateN(0);
Reverse(vacuum);
Reverse(vacuum);
vacuum.RotateN(180);
goRight = false;
upAndDown = true;
}
else
{
vacuum.RotateN(90);
Reverse(vacuum);
Reverse(vacuum);
vacuum.RotateN(180);
Reverse(vacuum);
Reverse(vacuum);
vacuum.RotateN(0);
goRight = false;
upAndDown = true;
}
}
if (_checker.CollisionOccured(vacuum) && _checker.NorthSouthWallCollision && _checker.SideWallCollision && vacuum.X <= -820)
{
if (vacuum.Y > 0)
{
vacuum.RotateN(0);
Reverse(vacuum);
Reverse(vacuum);
vacuum.RotateN(270);
Reverse(vacuum);
Reverse(vacuum);
vacuum.RotateN(180);
goRight = false;
upAndDown = true;
}
else
{
vacuum.RotateN(270);
Reverse(vacuum);
Reverse(vacuum);
vacuum.RotateN(180);
Reverse(vacuum);
Reverse(vacuum);
vacuum.RotateN(0);
goRight = false;
upAndDown = true;
}
}
else if (_checker.CollisionOccured(vacuum) && _checker.NorthSouthWallCollision)
{
if ((vacuum.GetRotation() == 90 || vacuum.GetRotation() == 270) && vacuum.Y >= 400)
{
vacuum.RotateN(180);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
vacuum.RotateN(0);
rotatedRightLast = true;
upAndDown = true;
}
else if ((vacuum.GetRotation() == 90 || vacuum.GetRotation() == 270) && vacuum.Y <= -400)
{
vacuum.RotateN(0);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
vacuum.RotateN(180);
rotatedRightLast = false;
upAndDown = true;
}
if (_checker.CollidedFurnitureObject != null)
{
if (vacuum.X <= 0)
{
goRight = false;
}
else
{
goRight = true;
}
if (vacuum.X >= _checker.CollidedFurnitureObject.X)
{
//vacuum.X += (int)_checker.CollidedFurnitureObject.Width;
upAndDown = false;
rotatedRightLast = false;
vacuum.RotateN(270);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
vacuum.RotateN(90);
}
else
{
rotatedRightLast = true;
upAndDown = false;
vacuum.RotateN(90);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
vacuum.RotateN(270);
}
if (vacuum.Y <= -400)
{
vacuum.Y += 10;
}
else if (vacuum.Y >= 400)
{
vacuum.Y -= 10;
}
// upAndDown = false;
}
//else
//{
if (!rotatedRightLast)
{
if (goRight && upAndDown)
{
rotatedRightLast = !rotatedRightLast;
Reverse(vacuum);
Reverse(vacuum);
vacuum.RotateN(90);
MoveForward(vacuum);
MoveForward(vacuum);
MoveForward(vacuum);
MoveForward(vacuum);
vacuum.RotateN(180);
if (_checker.CollisionOccured(vacuum))
{
if (_checker.CollidedFurnitureObject != null)
{
if (vacuum.Y <= 0)
{
goRight = false;
}
else
{
goRight = true;
}
if (vacuum.X >= _checker.CollidedFurnitureObject.X)
{
// vacuum.X += (int)_checker.CollidedFurnitureObject.Width;
upAndDown = false;
rotatedRightLast = false;
vacuum.RotateN(270);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
vacuum.RotateN(90);
}
else
{
rotatedRightLast = true;
upAndDown = false;
vacuum.RotateN(90);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
vacuum.RotateN(270);
}
}
}
}
else if (!goRight && upAndDown)
{
rotatedRightLast = !rotatedRightLast;
Reverse(vacuum);
Reverse(vacuum);
vacuum.RotateN(270);
MoveForward(vacuum);
MoveForward(vacuum);
MoveForward(vacuum);
MoveForward(vacuum);
vacuum.RotateN(0);
if (_checker.CollisionOccured(vacuum))
{
if (_checker.CollidedFurnitureObject != null)
{
if (vacuum.Y <= 0)
{
goRight = false;
}
else
{
goRight = true;
}
if (vacuum.X >= _checker.CollidedFurnitureObject.X)
{
// vacuum.X += (int)_checker.CollidedFurnitureObject.Width;
upAndDown = false;
rotatedRightLast = false;
vacuum.RotateN(270);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
vacuum.RotateN(90);
}
else
{
rotatedRightLast = true;
upAndDown = false;
vacuum.RotateN(90);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
vacuum.RotateN(270);
}
}
}
}
else if (goRight && !upAndDown)
{
rotatedRightLast = !rotatedRightLast;
//Reverse(vacuum);
//Reverse(vacuum);
vacuum.RotateN(270);
MoveForward(vacuum);
MoveForward(vacuum);
MoveForward(vacuum);
MoveForward(vacuum);
//vacuum.RotateN(0);
if (_checker.CollisionOccured(vacuum))
{
if (_checker.CollidedFurnitureObject != null)
{
if (vacuum.Y <= 0)
{
goRight = false;
}
else
{
goRight = true;
}
if (vacuum.X >= _checker.CollidedFurnitureObject.X)
{
// vacuum.X += (int)_checker.CollidedFurnitureObject.Width;
upAndDown = false;
rotatedRightLast = false;
vacuum.RotateN(270);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
vacuum.RotateN(90);
}
else
{
rotatedRightLast = true;
upAndDown = false;
vacuum.RotateN(90);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
vacuum.RotateN(270);
}
}
}
}
}
else
{
if (goRight && upAndDown)
{
rotatedRightLast = !rotatedRightLast;
Reverse(vacuum);
Reverse(vacuum);
vacuum.RotateN(90);
MoveForward(vacuum);
MoveForward(vacuum);
MoveForward(vacuum);
MoveForward(vacuum);
vacuum.RotateN(0);
if (_checker.CollisionOccured(vacuum))
{
if (_checker.CollidedFurnitureObject != null)
{
if (vacuum.Y <= 0)
{
goRight = false;
}
else
{
goRight = true;
}
if (vacuum.X >= _checker.CollidedFurnitureObject.X)
{
//vacuum.X += (int)_checker.CollidedFurnitureObject.Width;
upAndDown = false;
rotatedRightLast = false;
vacuum.RotateN(270);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
vacuum.RotateN(90);
}
else
{
rotatedRightLast = true;
upAndDown = false;
vacuum.RotateN(90);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
vacuum.RotateN(270);
}
}
}
}
else if (!goRight && upAndDown)
{
rotatedRightLast = !rotatedRightLast;
Reverse(vacuum);
Reverse(vacuum);
vacuum.RotateN(270);
MoveForward(vacuum);
MoveForward(vacuum);
MoveForward(vacuum);
MoveForward(vacuum);
vacuum.RotateN(180);
if (_checker.CollisionOccured(vacuum))
{
if (_checker.CollidedFurnitureObject != null)
{
if (vacuum.Y <= 0)
{
goRight = false;
}
else
{
goRight = true;
}
if (vacuum.X >= _checker.CollidedFurnitureObject.X)
{
// vacuum.X += (int)_checker.CollidedFurnitureObject.Width;
upAndDown = false;
rotatedRightLast = false;
vacuum.RotateN(270);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
vacuum.RotateN(90);
}
else
{
rotatedRightLast = true;
upAndDown = false;
vacuum.RotateN(90);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
vacuum.RotateN(270);
}
}
}
}
}
}
else if (_checker.CollisionOccured(vacuum) && _checker.SideWallCollision)
{
if ((vacuum.GetRotation() == 0 || vacuum.GetRotation() == 180) && vacuum.X >= 820)
{
vacuum.RotateN(90);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
vacuum.RotateN(270);
rotatedRightLast = false;
upAndDown = false;
}
else
{
if (_checker.CollisionOccured(vacuum))
{
if (_checker.CollidedFurnitureObject != null)
{
if (vacuum.X <= 0)
{
goRight = true;
}
else
{
goRight = false;
}
if (vacuum.Y <= _checker.CollidedFurnitureObject.Y)
{
upAndDown = true;
rotatedRightLast = false;
vacuum.RotateN(180);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
vacuum.RotateN(0);
}
else
{
rotatedRightLast = true;
upAndDown = true;
vacuum.RotateN(0);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
vacuum.RotateN(180);
}
}
}
if (!rotatedRightLast)
{
if (goRight && !upAndDown)
{
rotatedRightLast = !rotatedRightLast;
Reverse(vacuum);
Reverse(vacuum);
vacuum.RotateN(0);
MoveForward(vacuum);
MoveForward(vacuum);
MoveForward(vacuum);
MoveForward(vacuum);
vacuum.RotateN(270);
if (_checker.CollisionOccured(vacuum))
{
if (_checker.CollidedFurnitureObject != null)
{
if (vacuum.X <= 0)
{
goRight = true;
}
else
{
goRight = false;
}
if (vacuum.Y <= _checker.CollidedFurnitureObject.Y)
{
// vacuum.X += (int)_checker.CollidedFurnitureObject.Width;
upAndDown = true;
rotatedRightLast = false;
vacuum.RotateN(180);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
vacuum.RotateN(0);
}
else
{
rotatedRightLast = true;
upAndDown = true;
vacuum.RotateN(0);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
vacuum.RotateN(180);
}
}
}
}
else if (!goRight && !upAndDown)
{
rotatedRightLast = !rotatedRightLast;
Reverse(vacuum);
Reverse(vacuum);
vacuum.RotateN(180);
MoveForward(vacuum);
MoveForward(vacuum);
MoveForward(vacuum);
MoveForward(vacuum);
vacuum.RotateN(90);
if (_checker.CollisionOccured(vacuum))
{
if (_checker.CollidedFurnitureObject != null)
{
if (vacuum.X <= 0)
{
goRight = true;
}
else
{
goRight = false;
}
if (vacuum.Y <= _checker.CollidedFurnitureObject.Y)
{
// vacuum.X += (int)_checker.CollidedFurnitureObject.Width;
upAndDown = true;
rotatedRightLast = false;
vacuum.RotateN(180);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
vacuum.RotateN(0);
}
else
{
rotatedRightLast = true;
upAndDown = true;
vacuum.RotateN(0);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
vacuum.RotateN(180);
}
}
}
}
}
else
{
if (!goRight && !upAndDown)
{
rotatedRightLast = !rotatedRightLast;
Reverse(vacuum);
Reverse(vacuum);
vacuum.RotateN(180);
MoveForward(vacuum);
MoveForward(vacuum);
MoveForward(vacuum);
MoveForward(vacuum);
vacuum.RotateN(270);
if (_checker.CollidedFurnitureObject != null)
{
if (vacuum.X <= 0)
{
goRight = true;
}
else
{
goRight = false;
}
if (_checker.CollisionOccured(vacuum))
{
if (vacuum.Y <= _checker.CollidedFurnitureObject.Y)
{
// vacuum.X += (int)_checker.CollidedFurnitureObject.Width;
upAndDown = true;
rotatedRightLast = false;
vacuum.RotateN(180);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum); vacuum.RotateN(0);
}
else
{
rotatedRightLast = true;
upAndDown = true;
vacuum.RotateN(0);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
vacuum.RotateN(180);
}
}
}
}
else if (goRight && !upAndDown)
{
rotatedRightLast = !rotatedRightLast;
Reverse(vacuum);
Reverse(vacuum);
vacuum.RotateN(0);
MoveForward(vacuum);
MoveForward(vacuum);
MoveForward(vacuum);
MoveForward(vacuum);
vacuum.RotateN(90);
if (_checker.CollisionOccured(vacuum))
{
if (_checker.CollidedFurnitureObject != null)
{
if (vacuum.X <= 0)
{
goRight = true;
}
else
{
goRight = false;
}
if (vacuum.Y <= _checker.CollidedFurnitureObject.Y)
{
// vacuum.X += (int)_checker.CollidedFurnitureObject.Width;
upAndDown = true;
rotatedRightLast = false;
vacuum.RotateN(180);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum); vacuum.RotateN(0);
}
else
{
rotatedRightLast = true;
upAndDown = true;
vacuum.RotateN(0);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
Reverse(vacuum);
vacuum.RotateN(180);
}
}
}
}
}
// }
}
}
else if (_checker.CollisionOccured(vacuum) && !_checker.NorthSouthWallCollision && !_checker.SideWallCollision)
{
if (!rotatedRightLast)
{
if (goRight && upAndDown)
{
rotatedRightLast = !rotatedRightLast;
Reverse(vacuum);
Reverse(vacuum);
vacuum.RotateN(90);
MoveForward(vacuum);
MoveForward(vacuum);
MoveForward(vacuum);
MoveForward(vacuum);
vacuum.RotateN(180);
}
else if (goRight && !upAndDown)
{
rotatedRightLast = !rotatedRightLast;
Reverse(vacuum);
Reverse(vacuum);
vacuum.RotateN(0);
MoveForward(vacuum);
MoveForward(vacuum);
MoveForward(vacuum);
MoveForward(vacuum);
vacuum.RotateN(90);
}
else if (!goRight && upAndDown)
{
rotatedRightLast = !rotatedRightLast;
Reverse(vacuum);
Reverse(vacuum);
vacuum.RotateN(270);
MoveForward(vacuum);
MoveForward(vacuum);
MoveForward(vacuum);
MoveForward(vacuum);
vacuum.RotateN(0);
}
else if (!goRight && !upAndDown)
{
rotatedRightLast = !rotatedRightLast;
Reverse(vacuum);
Reverse(vacuum);
vacuum.RotateN(180);
MoveForward(vacuum);
MoveForward(vacuum);
MoveForward(vacuum);
MoveForward(vacuum);
vacuum.RotateN(90);
}
}
else
{
if (goRight && upAndDown)
{
rotatedRightLast = !rotatedRightLast;
Reverse(vacuum);
Reverse(vacuum);
vacuum.RotateN(90);
MoveForward(vacuum);
MoveForward(vacuum);
MoveForward(vacuum);
MoveForward(vacuum);
vacuum.RotateN(0);
}
else if (goRight && !upAndDown)
{
rotatedRightLast = !rotatedRightLast;
Reverse(vacuum);
Reverse(vacuum);
vacuum.RotateN(0);
MoveForward(vacuum);
MoveForward(vacuum);
MoveForward(vacuum);
MoveForward(vacuum);
vacuum.RotateN(270);
}
else if (!goRight && upAndDown)
{
rotatedRightLast = !rotatedRightLast;
Reverse(vacuum);
Reverse(vacuum);
vacuum.RotateN(270);
MoveForward(vacuum);
MoveForward(vacuum);
MoveForward(vacuum);
MoveForward(vacuum);
vacuum.RotateN(180);
}
else if (!goRight && !upAndDown)
{
rotatedRightLast = !rotatedRightLast;
Reverse(vacuum);
Reverse(vacuum);
vacuum.RotateN(180);
MoveForward(vacuum);
MoveForward(vacuum);
MoveForward(vacuum);
MoveForward(vacuum);
vacuum.RotateN(270);
}
}
}
else
{
MoveForward(vacuum);
}
//if (!vacuum.PointsVisited.Contains(new System.Drawing.Point(vacuum.X, vacuum.Y)))
//{
// vacuum.PointsVisited.Add(new System.Drawing.Point(vacuum.X, vacuum.Y));
//}
}