/// <summary>
/// constructor voor de world
/// </summary>
public World() {
//vul de lijst met alle nodes
Pathfinding.FillList();
LoadingBay bay = CreateLoadingBay(20, 20, 20);
//Maak objecten aan
Pathfinding.listOfNodes[5].SetRack(CreatePalletRack(15, 1.4, 10));
Pathfinding.listOfNodes[6].SetRack(CreatePalletRack(15, 1.4, 11.5));
Pathfinding.listOfNodes[7].SetRack(CreatePalletRack(15, 1.4, 13));
Pathfinding.listOfNodes[8].SetRack(CreatePalletRack(15, 1.4, 14.5));
Pathfinding.listOfNodes[9].SetRack(CreatePalletRack(10, 1.4, 10));
Pathfinding.listOfNodes[10].SetRack(CreatePalletRack(10, 1.4, 11.5));
Pathfinding.listOfNodes[11].SetRack(CreatePalletRack(10, 1.4, 13));
Pathfinding.listOfNodes[12].SetRack(CreatePalletRack(10, 1.4, 14.5));
Pathfinding.listOfNodes[13].SetRack(CreatePalletRack(5, 1.4, 10));
Pathfinding.listOfNodes[14].SetRack(CreatePalletRack(5, 1.4, 11.5));
Pathfinding.listOfNodes[15].SetRack(CreatePalletRack(5, 1.4, 13));
Pathfinding.listOfNodes[16].SetRack(CreatePalletRack(5, 1.4, 14.5));
Truck t1 = CreateTruck(33, 0.23, 60, "1");
Truck t2 = CreateTruck(35, 0.23, 60, "2");
Truck t3 = CreateTruck(37, 0.23, 60, "3");
Robot r1 = CreateRobot(28, 0.15, 13.5, 'C', t1);
Robot r2 = CreateRobot(28, 0.15, 13.5, 'D', t2);
Robot r3 = CreateRobot(28, 0.15, 13.5, 'E', t3);
//Pad voor de Truck
Pathfinding.PathTruck = Pathfinding.Listnodes("X1", "Y1", Pathfinding.listOfNodes, Pathfinding.PathTruck);
t1.AddTask(new TruckMove(Pathfinding.StartTruck1));
t1.AddTask(new TruckMove(Pathfinding.PathTruck));
Pathfinding.PathTruck = new List<Node>();
Pathfinding.PathTruck = Pathfinding.Listnodes("X2", "Y2", Pathfinding.listOfNodes, Pathfinding.PathTruck);
t2.AddTask(new TruckMove(Pathfinding.StartTruck2));
t2.AddTask(new TruckMove(Pathfinding.PathTruck));
Pathfinding.PathTruck = new List<Node>();
Pathfinding.PathTruck = Pathfinding.Listnodes("X3", "Y3", Pathfinding.listOfNodes, Pathfinding.PathTruck);
t3.AddTask(new TruckMove(Pathfinding.StartTruck3));
t3.AddTask(new TruckMove(Pathfinding.PathTruck));
//Pad voor de robot
Pathfinding.PathRobot = Pathfinding.Listnodes("A", "C4", Pathfinding.listOfNodes, Pathfinding.PathRobot);
r1.AddTask(new RobotMove(Pathfinding.StartRobot));
r1.AddTask(new RobotMove(Pathfinding.PathRobot));
Pathfinding.PathRobot = new List<Node>();
Pathfinding.PathRobot = Pathfinding.Listnodes("A", "D4", Pathfinding.listOfNodes, Pathfinding.PathRobot);
r2.AddTask(new RobotMove(Pathfinding.StartRobot));
r2.AddTask(new RobotMove(Pathfinding.PathRobot));
Pathfinding.PathRobot = new List<Node>();
Pathfinding.PathRobot = Pathfinding.Listnodes("A", "E4", Pathfinding.listOfNodes, Pathfinding.PathRobot);
r3.AddTask(new RobotMove(Pathfinding.StartRobot));
r3.AddTask(new RobotMove(Pathfinding.PathRobot));
}
// Hier worden de graph, de truck, de robots en de rekjes neergezet
public World()
{
Point a = new Point(-20, 0, 0);
Point b = new Point(-10, 0, 0);
Point c = new Point(-10, 0, 10);
Point d = new Point(0, 0, 10);
Point e = new Point(10, 0, 10);
Point f = new Point(10, 0, 0);
Point g = new Point(10, 0, -10);
Point h = new Point(0, 0, -10);
Point i = new Point(-10, 0, -10);
Point j = new Point(0, 0, 0);
Point tA = new Point(-20, 0, -50);
Point tB = new Point(-20, 0, 0);
Point tC = new Point(-20, 0, 50);
a.AddNode(b);
b.AddNode(new List <Point>()
{
c, i
});
c.AddNode(d);
d.AddNode(new List <Point>()
{
e, j
});
e.AddNode(f);
f.AddNode(g);
h.AddNode(new List <Point>()
{
i, j, g
});
tB.AddNode(new List <Point>()
{
tA, tB
});
List <Point> pointList = new List <Point>()
{
a, b, c, d, e, f, g, h, i, j
};
pointGraph = new Graph((pointList));
truckGraph = new Graph(new List <Point>()
{
tA, tB, tC
});
Robot robot1 = CreateRobot(a);
Robot robot2 = CreateRobot(a);
Robot robot3 = CreateRobot(a);
Rack rack1 = CreateRack(e);
Rack rack2 = CreateRack(i);
Rack rack3 = CreateRack(j);
Rack rack4 = CreateRack(g);
Rack rack5 = CreateRack(b);
Rack rack6 = CreateRack(c);
Truck t = CreateTruck(tA);
robot1.AddTask(new RobotMove(pointGraph, rack1.point));
robot2.AddTask(new RobotMove(pointGraph, rack2.point));
robot3.AddTask(new RobotMove(pointGraph, rack3.point));
int counter = 3;
foreach (Model3D r in worldObjects)
{
if (r is Robot)
{
((Robot)r).AddTask(new RobotPickUp());
((Robot)r).AddTask(new RobotMove(pointGraph, a));
((Robot)r).AddTask(new RobotDropOff(t));
((Robot)r).AddTask(new RobotPickUp());
((Robot)r).AddTask(new RobotMove(pointGraph, pointList[counter]));
((Robot)r).AddTask(new RobotDropOff(pointList[counter]));
counter++;
((Robot)r).AddTask(new RobotMove(pointGraph, a));
}
}
t.AddTask(new TruckMove(tB));
t.AddTask(new TruckLoad());
t.AddTask(new TruckMove(tC));
t.AddTask(new TruckTeleport(tA));
t.AddTask(new TruckMove(tB));
t.AddTask(new TruckDump(a));
t.AddTask(new TruckMove(tC));
}
