/// <summary>
/// Allows the game to perform any initialization it needs to before starting to run.
/// This is where it can query for any required services and load any non-graphic
/// related content. Calling base.Initialize will enumerate through any components
/// and initialize them as well.
/// </summary>
protected override void Initialize()
{
spriteBatch = new SpriteBatch(GraphicsDevice);
Services.AddService(typeof(SpriteBatch), spriteBatch);
player = new Player(this);
var commands = new IConsoleCommand[] { new MovePlayerCommand(player), new RotatePlayerDegreesCommand(player) };
console = new GameConsole(this, spriteBatch, commands, new GameConsoleOptions
{
Font = Content.Load<SpriteFont>("GameFont"),
FontColor = Color.LawnGreen,
Prompt = "~>",
PromptColor = Color.Crimson,
CursorColor = Color.OrangeRed,
BackgroundColor = new Color(Color.Black,150),
PastCommandOutputColor = Color.Aqua,
BufferColor = Color.Gold
});
console.AddCommand("rotRad", a =>
{
var angle = float.Parse(a[0]);
player.Angle = angle;
return String.Format("Rotated the player to {0} radians", angle);
});
base.Initialize();
}
public GameConsoleComponent(GameConsole console, Game game, SpriteBatch spriteBatch)
: base(game)
{
this.console = console;
EventInput.Initialize(game.Window);
this.spriteBatch = spriteBatch;
AddPresetCommands();
inputProcesser = new InputProcessor(new CommandProcesser());
inputProcesser.Open += (s, e) => renderer.Open();
inputProcesser.Close += (s, e) => renderer.Close();
renderer = new Renderer(game, spriteBatch, inputProcesser);
var inbuiltCommands = new IConsoleCommand[] {new ClearScreenCommand(inputProcesser),new ExitCommand(game),new HelpCommand()};
GameConsoleOptions.Commands.AddRange(inbuiltCommands);
}
protected override void LoadContent()
{
this.SpriteBatch = new SpriteBatch(this.Graphics.GraphicsDevice);
this.GameConsole = new GameConsole(this, this.SpriteBatch);
// Create the game console.
this.GameConsole.Options.PastCommandColor = Color.Green;
this.GameConsole.Options.PastCommandOutputColor = Color.Red;
// Create the stream writer for Win32 console redirection.
this.Writer = new XNAConsoleStreamWriter(this.GameConsole);
// Redirect Win32 console output to the game console.
Console.SetOut(this.Writer);
base.LoadContent();
this.InitalizeScreens();
this.InitalizeConsoleCommands();
}
/// <summary>
/// Allows the game to perform any initialization it needs to before starting to run.
/// This is where it can query for any required services and load any non-graphic
/// related content. Calling base.Initialize will enumerate through any components
/// and initialize them as well.
/// </summary>
protected override void Initialize()
{
spriteBatch = new SpriteBatch(GraphicsDevice);
Services.AddService(typeof(SpriteBatch), spriteBatch);
grid = new Grid(this, 20) {DrawGridLines = true};
cursor = new MouseCursor(this, spriteBatch, Content.Load<Texture2D>("cursor"));
cursor.LeftClick += (o, e) => HandleLeftButton(e.Position);
cursor.LeftDrag += (o, e) => HandleLeftButton(e.Position);
cursor.RightClick += (o, e) => HandleRightButton(e.Position);
cursor.RightDrag += (o, e) => HandleRightButton(e.Position);
aStar = new AStar(this, grid, new ManhattanDistance());
aStar.PathFound += (o, e) => {
console.WriteLine(String.Format("Heuristic: {0}; Path length: {1}; Total Explored length: {2}", aStar.Heuristic.Name, e.TotalPathLength, e.TotalExplored));
foreach (var cell in e.Path)
{
cell.Type = GridCellType.Path;
}
};
Components.Add(cursor);
gameObjects.Add(grid);
gameObjects.Add(aStar);
var singleStroke = new SingleKeyStroke(this);
singleStroke.KeyDown += (o, e) =>
{
if (console.Opened)
{
return;
}
if (e.Key == Keys.Space)
{
grid.DrawGridLines = !grid.DrawGridLines;
}
if (e.Key == Keys.Enter)
{
grid.Reset();
aStar.Start();
}
};
Components.Add(singleStroke);
console = new GameConsole(this, spriteBatch, new IConsoleCommand[]
{
new DisplayGridlinesCommand(grid),
new ResetGridCommand(grid),
new CellSizeCommand(grid),
new SetHeuristicCommand(aStar),
new FullScreenCommand(graphics)
}, new GameConsoleOptions{Prompt=">", FontColor = Color.GreenYellow});
base.Initialize();
}
protected override void Initialize()
{
graphics.PreferMultiSampling = true;
graphics.PreferredBackBufferWidth = WINDOWED_WIDTH;
graphics.PreferredBackBufferHeight = WINDOWED_HEIGHT;
graphics.IsFullScreen = false;
graphics.ApplyChanges();
spriteBatch = new SpriteBatch(GraphicsDevice);
console = new GameConsole(this, spriteBatch, new GameConsoleOptions()
{
OpenOnWrite = false,
Prompt = ">",
Height = 500,
ToggleKey = Keys.Escape
});
console.AddCommand("load",
args =>
{
missionFile = "../../../../../missions/" + args[0] + ".json";
ClearWorld();
InitSim(false);
return "Mission loaded.";
}, "Load a mission file");
console.AddCommand("experiment",
args =>
{
if (args[0] == "random")
new SmootherExperiment(this, expFile, 100);
else if (args[0] == "parking")
new ParkingExperiment(this, world, expFile);
else
return "Experiment not found.";
return "Experiment started.";
}, "Run an experiment");
console.AddCommand("antialias",
args =>
{
graphics.PreferMultiSampling = !graphics.PreferMultiSampling;
graphics.ApplyChanges();
return "Antialias " + (graphics.PreferMultiSampling ? "on" : "off");
}, "Toggles antialias");
console.AddCommand("debug",
args =>
{
showDebugInfo = !showDebugInfo;
return "Debug " + (showDebugInfo ? "on" : "off");
}, "Toggles the debug info");
console.AddCommand("dashboard",
args =>
{
showDashboard = !showDashboard;
return "Dashboard " + (showDashboard ? "on" : "off");
}, "Toggles the dashboard");
console.AddCommand("param",
args =>
{
if (args.Length < 1) return "";
switch (args[0].ToLower())
{
case "smoother":
return Smoother.HandleParamCommand(args);
default:
return "";
}
}, "Prints or updates parameters");
console.AddCommand("smooth",
args =>
{
if (pathSmoothDone)
{
bg = new Thread(() =>
{
DateTime now = DateTime.Now;
smoothedPath = Smoother.Smooth(astar.Path, grid);
int numUnsafe = Smoother.UnsafeIndices != null ? Smoother.UnsafeIndices.Count : 0;
console.WriteLine("Smoothing Time: " + Math.Round((DateTime.Now - now).TotalMilliseconds) + " ms (" + Smoother.NumIterations + " iterations, " + Smoother.Change + "m, " + numUnsafe + " unsafe points)");
controller = new StanleyFSMController(smoothedPath, goalPose);
});
bg.IsBackground = true;
bg.Priority = ThreadPriority.Lowest;
bg.Start();
}
return "";
}, "Smooths the path using the current parameters");
console.AddCommand("smoothing",
args =>
{
smoothing = !smoothing;
return "Smoothing " + (smoothing ? "on" : "off");
}, "Toggles smoothing"
);
dashboard = new Dashboard(this);
world = new World(Vector2.Zero);
car = new Car(world, new Pose());
camera = new Camera(MathHelper.PiOver4, GraphicsDevice.Viewport.AspectRatio, 0.1f, 1000f);
camera.Position = new Vector3(75f, 75f, 180f);
base.Initialize();
}
public XNAConsoleStreamWriter(GameConsole output)
{
_output = output;
_messageQueue = new Queue<string>();
}
