/********************************** END OF PROPERTIES **********************************/
public World()
{
this._simulationTask = null;
foreach (Vector3 pos in Constants.StoragePositions)
{
CreateStoragePlot(pos.X, pos.Y, pos.Z, 0, 0, 0, Constants.StoragePlotLength, Constants.StoragePlotWidth);
}
_robotPathfindingGraph = new Graph(Constants.GraphEdges);
_truckPathfindingGraph = new Graph(
new Edge[]
{
new Edge(Constants.TruckSpawn, Constants.TruckStop),
new Edge(Constants.TruckStop, Constants.TruckDespawn)
}
);
_robotPathfindingGraph.IntegrateVerticesToNearestEdge(
new List <Vector3>()
{
Constants.RobotEnterTruck,
Constants.RobotExitTruck
},
Constants.LaneWidth);
_worldObjects.Add(new GraphDisplay(this, _robotPathfindingGraph));
foreach (Vector3 s in Constants.RobotSpawns)
{
CreateRobot(s.X, s.Y, s.Z);
}
}
public bool RunTask(SimulationTask <World> task)
{
if (this._simulationTask != null && !this._simulationTask.IsFinished)
{
return(false);
}
this._simulationTask = task;
return(true);
}
public bool Tick(int tick)
{
// Run current simulation task if any is available
if (this._simulationTask != null && this._simulationTask.Tick())
{
this._simulationTask = null;
}
foreach (Entity o in _worldObjects)
{
o.Tick(tick);
}
return(true);
}
public void AssignTask(SimulationTask <Robot> task) => _tasks.Enqueue(task);