//------------------------------------------------------------------------------------------------------------------------
//Function: calculatePhysicsLinesForRectangle
//Parameters:objectInWorld
//This function calculates the boundaries of the rectangle by calculating the position of the four corners, then calculating
//the physics lines between each adjacent corner to create the box.
//------------------------------------------------------------------------------------------------------------------------
public void calculatePhysicsLinesForRectangle(objectInWorld myObj)
{
double startX = Canvas.GetLeft(myObj.rectangle);
double startY = Canvas.GetTop(myObj.rectangle);
double height = myObj.rectangle.Height;
double width = myObj.rectangle.Width;
double angle = myObj.angle;
double centerX = startX + (width / 2);
double centerY = startY + (height / 2);
double[] x = new double[4];
double[] y = new double[4];
// Rectangle:
// x0,y0 x1,y1
// x2,y2 x3,y3
double angleInRadians = Math.PI / 180.0 * angle;
// Calculate where the corners of the robot are
x[0] = (startX - centerX) * Math.Cos(angleInRadians) - (startY - centerY) * Math.Sin(angleInRadians) + centerX;
x[1] = (startX + width - centerX) * Math.Cos(angleInRadians) - (startY - centerY) * Math.Sin(angleInRadians) + centerX;
x[2] = (startX - centerX) * Math.Cos(angleInRadians) - (startY + height - centerY) * Math.Sin(angleInRadians) + centerX;
x[3] = (startX + width - centerX) * Math.Cos(angleInRadians) - (startY + height - centerY) * Math.Sin(angleInRadians) + centerX;
y[0] = (startX - centerX) * Math.Sin(angleInRadians) + (startY - centerY) * Math.Cos(angleInRadians) + centerY;
y[1] = (startX + width - centerX) * Math.Sin(angleInRadians) + (startY - centerY) * Math.Cos(angleInRadians) + centerY;
y[2] = (startX - centerX) * Math.Sin(angleInRadians) + (startY + height - centerY) * Math.Cos(angleInRadians) + centerY;
y[3] = (startX + width - centerX) * Math.Sin(angleInRadians) + (startY + height - centerY) * Math.Cos(angleInRadians) + centerY;
// These points are to be used in calculating the physics for the world.
calculatePhysicsLineForTwoPoints(x[0], y[0], x[1], y[1]);
calculatePhysicsLineForTwoPoints(x[0], y[0], x[2], y[2]);
calculatePhysicsLineForTwoPoints(x[2], y[2], x[3], y[3]);
calculatePhysicsLineForTwoPoints(x[1], y[1], x[3], y[3]);
}
//------------------------------------------------------------------------------------------------------------------------
//Function: RobotSimulator (constructor)
//Sets up the simulation, setting up the framerate, web service communication (between robot and simulation), and simulation
//UI.
//------------------------------------------------------------------------------------------------------------------------
public RobotSimulator()
{
InitializeComponent();
// Set the framerate to 30 FPS.
Application.Current.Host.Settings.MaxFrameRate = 30;
// Connect to and set up the web service.
robotService = new ServiceClient();
robotService.getMotionCompleted += new EventHandler<getMotionCompletedEventArgs>(robotService_getMotionCompleted);
robotService.getMotionAsync();
/*broker = new brokerService.Service1SoapClient();
broker.GetAddressCompleted += new EventHandler<GetAddressCompletedEventArgs>(broker_getAddressCompleted);
broker.GetAddressAsync(0);*/
// Create a box around the entire boundary of the simulator area
Rectangle worldBoundary = new Rectangle();
worldBoundary.Width = simWorld.getWorldSize() - 2;
worldBoundary.Height = simWorld.getWorldSize() - 2;
SolidColorBrush lightGray = new SolidColorBrush(Colors.LightGray);
worldBoundary.Fill = lightGray;
worldBoundary.Margin = new Thickness(0, 0, 0, 0);
worldBoundary.HorizontalAlignment = HorizontalAlignment.Left;
worldBoundary.VerticalAlignment = VerticalAlignment.Top;
objectInWorld worldBoundaryObject = new objectInWorld(worldBoundary, 0.0);
worldObjects.Add(worldBoundaryObject);
// Calculate all of the physics-related variables for the entire simulated world.
simWorld.populateWorld(LayoutRoot, worldObjects); // Now just for the world boundary
// Start a thread that checks for updates from the web service and sends updates (from the sensors) to the web service.
runner = new Thread(robotUpdater);
runner.Start();
// This function initializes the contents of the maze and other pieces in the simulator.
simWorld.defaultTestSetup(LayoutRoot, theRobot, ref robotRotation);
// Populate the list of the combobox.
populateComboBox(defaultActionComboBox, defaultOptions);
defaultActionComboBox.SelectedIndex = 0; // By default, the default action is to move forward.
}