Vector3 generateTarget()
{
// generate according to the robot's position
//Vector3 robotDis = rbtObj.transform.position - _table.transform.position;
Vector3 mir = 2 * _table.transform.position - rbtObj.transform.position;
float tableSize = 1f;
// generate two points for bezier generation and
// algorithms3
float deltax = Random.Range(Mathf.Max(-20f + _table.transform.position.x * 100f, -15 + mir.x * 100f),
Mathf.Min(20f + _table.transform.position.x * 100f, 15 + mir.x * 100f)) / 100.0f;
float deltaz = Random.Range(Mathf.Max(-20f + _table.transform.position.z * 100f, -15 + mir.z * 100f),
Mathf.Min(20f + _table.transform.position.z * 100f, 15 + mir.z * 100f)) / 100.0f;
print("dx:\t" + deltax + "\tdy:\t" + deltaz + "\trbt:\t" + rbtObj.transform.position + "\ttbl:\t" + _table.transform.position);
while (Vector3.Distance(rbtObj.transform.position, new Vector3(deltax, rbtObj.transform.position.y, deltaz)) < 0.2f)
{
print("redo");
deltax = Random.Range(-20, 20) / 100.0f + _table.transform.position.x;
deltaz = Random.Range(-20, 20) / 100.0f + _table.transform.position.z;
}
deltax = Mathf.Min(_table.transform.position.x + 0.2f, deltax);
deltax = Mathf.Max(_table.transform.position.x - 0.2f, deltax);
deltaz = Mathf.Min(_table.transform.position.z + 0.2f, deltaz);
deltaz = Mathf.Max(_table.transform.position.z - 0.2f, deltaz);
Vector3 des = new Vector3(deltax * tableSize, _table.transform.position.y, deltaz * tableSize); // + _table.transform.position;
print("des:\t" + des.ToString("F3"));
//ONLY FOR TEST
if (_DEBUG)
{
des = _table.transform.position;
}
// try two way animation that it goes to some floating place first and then get on the table
Vector3 desForRbt = des;
des.y += (transform.position.y - _table.transform.position.y) / 3f;
// another two points
float disx = Random.Range(1, 3) * (Random.Range(0, 1) * 2 - 1);
float disy = Random.Range(1, 3) * (Random.Range(0, 1) * 2 - 1);
Vector3 p2 = (transform.position + des) / 2 + new Vector3(disx, disy, 0);
Vector3 p3 = (transform.position + des) / 2 - new Vector3(disx, disy, 0);
// generate bezier path
_path = new bezier(transform.position, p2, p3, des);
// generate the first destination
moveDestination = _path.getPoint(0.0f);
// reset the speed
speed = 0.05f;
return(desForRbt);
}
private void silum(object sender, RoutedEventArgs e)
{
canvas.Children.Clear();
double sun = 0;
try
{
//sun = double.Parse(silumto.Text);
if (sun > 1)
{
canvas.Width *= sun;
canvas.Height *= sun;
}
}
catch (Exception)
{
return;
}
string path = str;
using (StreamReader sr = File.OpenText(path))
{
double x1 = 0, x2 = 0, y1 = 0, y2 = 0;
string s = "";
char[] outline = { '(', ',', ')' };
while ((s = sr.ReadLine()) != null)
{
if (s.IndexOf("#") > -1)
{
switch (s)
{
case "#Lines":
while ((s = sr.ReadLine()) != null && s != "" && s.Length > 2)
{
string[] arr = s.Split(outline);
arr = func(arr);
x1 = int.Parse(arr[0]) * sun;
y1 = int.Parse(arr[1]) * sun;
x2 = int.Parse(arr[2]) * sun;
y2 = int.Parse(arr[3]) * sun;
x1 *= scale; y1 *= scale; x2 *= scale; y2 *= scale;
Line l = new Line();
l.X1 = x1;
l.Y1 = y1;
l.X2 = x2;
l.Y2 = y2;
l.StrokeThickness = 4;
l.Stroke = System.Windows.Media.Brushes.LightSteelBlue;
canvas.Children.Add(l);
}
break;
case "#Circles":
while ((s = sr.ReadLine()) != null && s != "" && s.Length > 2)
{
string[] arr = s.Split(outline);
arr = func(arr);
x1 = int.Parse(arr[0]) * sun;
y1 = int.Parse(arr[1]) * sun;
//x2 = int.Parse(arr[2]);
y2 = int.Parse(arr[3]) * sun; // RADIUS
x1 *= scale; y1 *= scale; y2 *= scale;
Ellipse ell = new Ellipse();
ell.Width = 2 * y2;
ell.Height = 2 * y2;
InkCanvas.SetTop(ell, y1 - y2);
InkCanvas.SetLeft(ell, x1 - y2);
ell.StrokeThickness = 4;
ell.Fill = System.Windows.Media.Brushes.Transparent;
ell.Stroke = System.Windows.Media.Brushes.LightSteelBlue;
canvas.Children.Add(ell);
}
break;
case "#Cruves":
while ((s = sr.ReadLine()) != null && s != "" && s.Length > 2)
{
string[] arr = s.Split(outline);
arr = func(arr);
Point p1 = new Point((int.Parse(arr[0]) * sun) * scale, (int.Parse(arr[1]) * sun) * scale);
Point p2 = new Point((int.Parse(arr[2]) * sun) * scale, (int.Parse(arr[3]) * sun) * scale);
Point p3 = new Point((int.Parse(arr[4]) * sun) * scale, (int.Parse(arr[5]) * sun) * scale);
Point p4 = new Point((int.Parse(arr[6]) * sun) * scale, (int.Parse(arr[7]) * sun) * scale);
Point[] points = new[] { p1, p2, p3, p4 };
bezier bz = new bezier();
var Bezier_btb = bz.CreatebezierLinepoly(points, 500);
PathFigure pathDiscriptionFigure = new PathFigure(Bezier_btb.Points[0], new[] { Bezier_btb }, false);
PathFigureCollection pathColletion_ = new PathFigureCollection();
pathColletion_.Add(pathDiscriptionFigure);
var GeomtricPath = new PathGeometry();
GeomtricPath.Figures = pathColletion_;
System.Windows.Shapes.Path Path_Shapepattern = new System.Windows.Shapes.Path();
Path_Shapepattern.Data = GeomtricPath;
Path_Shapepattern.Stroke = new SolidColorBrush(Color.FromRgb(255, 0, 0));
canvas.Children.Add(Path_Shapepattern);
}
break;
}
}
}
}
}
private void preview_mouseup(object sender, MouseButtonEventArgs e)
{
if (gameclick % 2 == 0)
{
try
{
if (shapeFlag < 3)
{
if (gameclick % 2 == 0)
{
par[1] = Mouse.GetPosition(canvas);
}
}
else
{
}
switch (shapeFlag)
{
case 1:
Ellipse ell = new Ellipse();
if (par[0].X < par[1].X)
{
ell.Width = par[1].X - par[0].X;
ell.Height = par[1].Y - par[0].Y;
InkCanvas.SetTop(ell, par[0].Y);
InkCanvas.SetLeft(ell, par[0].X);
}
else
{
ell.Width = par[0].X - par[1].X;
ell.Height = par[0].Y - par[1].Y;
InkCanvas.SetTop(ell, par[1].Y);
InkCanvas.SetLeft(ell, par[1].X);
}
ell.StrokeThickness = 4;
ell.Fill = System.Windows.Media.Brushes.Transparent;
ell.Stroke = System.Windows.Media.Brushes.LightSteelBlue;
canvas.Children.Add(ell);
break;
case 2:
Line l = new Line();
l.X1 = par[0].X;
l.Y1 = par[0].Y;
l.X2 = par[1].X;
l.Y2 = par[1].Y;
l.StrokeThickness = 4;
l.Stroke = System.Windows.Media.Brushes.LightSteelBlue;
canvas.Children.Add(l);
break;
case 3:
if (i == 4)
{
Point[] points = new[] { par[0], par[1], par[2], par[3] };
bezier bz = new bezier();
var Bezier_btb = bz.CreatebezierLinepoly(points, 256);
PathFigure pathDiscriptionFigure = new PathFigure(Bezier_btb.Points[0], new[] { Bezier_btb }, false);
PathFigureCollection pathColletion_ = new PathFigureCollection();
pathColletion_.Add(pathDiscriptionFigure);
var GeomtricPath = new PathGeometry();
GeomtricPath.Figures = pathColletion_;
System.Windows.Shapes.Path Path_Shapepattern = new System.Windows.Shapes.Path();
Path_Shapepattern.Data = GeomtricPath;
Path_Shapepattern.Stroke = new SolidColorBrush(Color.FromRgb(255, 0, 0));
curve_list.Add(Path_Shapepattern);
canvas.Children.Add(Path_Shapepattern);
}
break;
}
}catch (Exception) { return; }
}
}
