public override void Move(Vector2 direction)
{
var forward = CurrentFacing.ToVector3XZ();
var right = Vector3.Cross(Vector3.up, forward).ToVector2XZ().normalized;
var relativeDir = new Vector2(Vector2.Dot(direction, right), Vector2.Dot(direction, CurrentFacing.normalized));
GetComponent <PlayerActionManager>().Move(relativeDir);
}
public override void Move(Vector2 direction)
{
if (direction.magnitude <= 0.01)
{
Entity.GetComponent <SimpleActionManager>().Move(new Vector2(0, 0));
return;
}
var forward = CurrentFacing.ToVector3XZ();
var right = Vector3.Cross(Vector3.up, forward).ToVector2XZ().normalized;
var relativeDir = new Vector2(Vector2.Dot(direction, right), Vector2.Dot(direction, CurrentFacing.normalized));
TurnTo(direction);
Entity.GetComponent <SimpleActionManager>().Move(new Vector2(0, 1));
}
/// <summary>
/// Main Method to be used by passing the complete structure request with instructions
/// </summary>
/// <param name="request">Request class containing the Map, Start, Commands and Battery Status</param>
/// <returns></returns>
public CleaningResult Run(CleaningRequest request)
{
if (IsValidRequest(request))
{
return(null);
}
var result = new CleaningResult();
Map = request.Map;
Battery = new Battery {
Status = request.Battery
};
CurrentCoordinate = request.Start;
PreviousCoordinate = CurrentCoordinate;
CurrentFacing = (Facing)Enum.Parse(typeof(Facing), request.Start.Facing);
Visited.Add(new Coordinate {
X = CurrentCoordinate.X, Y = CurrentCoordinate.Y
});
foreach (var command in request.Commands)
{
CurrentRobotAction = (RobotAction)Enum.Parse(typeof(RobotAction), command);
ExecuteCommand();
if (IsObstacle())
{
CurrentCoordinate = PreviousCoordinate;
IsRunningObstacleBackOffStrategy = true;
var alternativeIndex = 0;
do
{
var altCommands = AlternativeActions[alternativeIndex];
foreach (var altCommand in altCommands)
{
CurrentRobotAction = (RobotAction)Enum.Parse(typeof(RobotAction), altCommand);
ExecuteCommand();
}
if (!IsObstacle())
{
break;
}
else
{
CurrentCoordinate = PreviousCoordinate;
IsRunningObstacleBackOffStrategy = true;
}
alternativeIndex++;
}while (IsRunningObstacleBackOffStrategy && alternativeIndex < AlternativeActions.GetLength(0));
IsRunningObstacleBackOffStrategy = false;
}
}
result.Visited = Visited.OrderBy(m => m.X).ThenBy(m => m.Y).ToList();
result.Cleaned = Cleaned.OrderBy(m => m.X).ThenBy(m => m.Y).ToList();
result.Final = new Position {
X = CurrentCoordinate.X, Y = CurrentCoordinate.Y, Facing = CurrentFacing.ToString()
};
result.Battery = Battery.Status;
return(result);
}
public Result Run(Request request)
{
if (IsValidRequest(request))
{
return(null);
}
Init();
var result = new Result();
Map = request.Map;
Battery = new Battery {
Status = request.Battery
};
CurrentCoordinate = request.Start;
PreviousCoordinate = CurrentCoordinate;
CurrentFacing = (Facing)Enum.Parse(typeof(Facing), request.Start.Facing);
Visited.Add(new Coordinate {
X = CurrentCoordinate.X, Y = CurrentCoordinate.Y
});
for (int i = 0; i < request.Commands.Length; i++)
{
CurrentAction = (Action)Enum.Parse(typeof(Action), request.Commands[i]);
ExecCommand();
if (IsObstacle())
{
CurrentCoordinate = PreviousCoordinate;
IsRunningBackOffStrategy = true;
for (int j = 0; j < AlternativeActions.Path.Length; j++)
{
if (IsRunningBackOffStrategy)
{
for (int k = 0; k < AlternativeActions.Path[j].Length; k++)
{
CurrentAction = (Action)Enum.Parse(typeof(Action), AlternativeActions.Path[j][k]);
ExecCommand();
}
if (!IsObstacle())
{
IsRunningBackOffStrategy = false;
break;
}
else
{
CurrentCoordinate = PreviousCoordinate;
IsRunningBackOffStrategy = true;
}
}
}
}
}
result.Visited = Visited.OrderBy(m => m.X).ThenBy(m => m.Y).ToList();
result.Cleaned = Cleaned.OrderBy(m => m.X).ThenBy(m => m.Y).ToList();
result.Final = new Position {
X = CurrentCoordinate.X, Y = CurrentCoordinate.Y, Facing = CurrentFacing.ToString()
};
result.Battery = Battery.Status;
return(result);
}
