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();
}
}
// rotate picture (Vector-Graphic) of the Robot by aRot
// aRot should be a Unit-Vector
void Rotate(Vect2D aRot)
{
for (int i = 0; i < _relPoints.Length; i++)
{
_relPoints[i].CoMultTo(aRot);
}
}
Vect2D GetVectorToTarget(Vect2D target, double keepDistance)
{
double deltaX = target.X - rb.Pos.X;
double deltaY = target.Y - rb.Pos.Y;
double distance = Math.Sqrt(deltaX * deltaX + deltaY * deltaY);
double factor = (distance - keepDistance) / distance;
return(new Vect2D(deltaX * factor, deltaY * factor, false));
}
void SetFollow(Vect2D target, double keepDistance, double speedFactor)
{
Vect2D vect = GetVectorToTarget(target, keepDistance);
double dPhi = GetRelAngle(vect.GetPhiGrad()) * speedFactor * 2;
double v = vect.VectLength() * speedFactor;
if (v < speedFactor * 1.1)
{
dPhi = v = 0;
}
rb.Set_dPhi(dPhi);
rb.SetV(v);
}
void DriveDistance(double aPow, double aDist)
{
rb.SetV(aPow); // Motoren ein
Vect2D start = rb.Pos;
while (true)
{
// Warten bis die Simulation eine neue Pos berchnet hat
WaitForUpdate();
if (start.DistBetweenPoints(rb.Pos) > aDist)
{
break;
}
}
rb.SetV(0); // Motoren aus
}
public void UpdatePath()
{
if (!showPath)
{
return;
}
if (Pos.DistBetweenPoints(_oldPos) < 10)
{
return;
}
_oldPos = Pos;
if (_path.Count > 50)
{
_path.RemoveLast();
}
_path.AddFirst(Pos.AsPoint);
}
// Bring Positions outside of ScPanel back into ScPanel
// Pos > Xmax => Xmin; Pos < Xmin = > Xmax ......
public void CorrigatePosition(ref Vect2D aPos)
{
if (aPos.X < -20)
{
aPos.X = Width;
}
if (aPos.X > Width + 20)
{
aPos.X = 0;
}
if (aPos.Y < -5)
{
aPos.Y = Height;
}
if (aPos.Y > Height + 20)
{
aPos.Y = 0;
}
}
public void Initialize(Vect2D<int> ind, SushiVersion version,Sprite cellSprite)
{
index = ind;
sushiVersion = version;
GetComponent<SpriteRenderer>().sprite = cellSprite;
}
