public bool ColisionLeft(Gripper gripper)
{
if (gripper.state == Gripper.StateList.Close)
{
double x = Position.X + 18;
double y = Position.Y;
if ((lockManipulatorLeft < x))
{
if (y == downPosition.Y)
{
//Console.Write("jest ok");
//Gripper.isPossibleToChangeState = false;
return(true);
}
}
}
else if (gripper.state == Gripper.StateList.Open)
{
double x = Position.X + 18;
double y = Position.Y;
if ((lockManipulatorLeft < x))
{
if (y == downPosition.Y)
{
//Console.Write("jest ok");
return(true);
}
}
}
return(false);
}
protected override void OnLoad(EventArgs e)
{
base.OnLoad(e);
button1 = new CustomButton(new Vector2(818, 440), new RectangleF(0, 0, 64, 36));
//texture2 = ContentPipe.LoadTexture("Process.png");
texture2 = ContentPipe.LoadTexture("procesik2.png");
player = new Player();
for (int i = 0; i < 6; i++)
{
blocks.Add(new Block());
}
piston = new Piston();
gripper = new Gripper();
conveyor = new Conveyor();
InitializeSensors();
conveyor = new Conveyor();
ControlMode.Init();
}
public static void SetActuators(Player player, Piston piston, Gripper gripper, Conveyor conveyor)
{
if (PipeClient.GetOutput("Q0.7"))
{
if (!Player.butonik)
{
player.direction = Player.Direction.A1;
player.newPosition.X = Player.firstContainerPosition.X;
player.newPosition.Y = player.Position.Y;
Player.butonik = true;
}
}
if (PipeClient.GetOutput("Q1.0"))
{
if (!Player.butonik)
{
player.direction = Player.Direction.A2;
player.newPosition.X = Player.secondContainerPosition.X;
player.newPosition.Y = player.Position.Y;
Player.butonik = true;
}
}
if (PipeClient.GetOutput("Q0.6"))
{
if (!Player.butonik)
{
player.direction = Player.Direction.A0;
player.newPosition.X = Player.startPosition.X;
player.newPosition.Y = player.Position.Y;
Player.butonik = true;
}
}
if (PipeClient.GetOutput("Q0.5"))
{
if (!Player.butonik)
{
player.direction = Player.Direction.B1;
player.newPosition.X = player.Position.X;
player.newPosition.Y = Player.downPosition.Y;
Player.butonik = true;
}
}
if (PipeClient.GetOutput("Q0.4"))
{
if (!Player.butonik)
{
player.direction = Player.Direction.B0;
player.newPosition.X = player.Position.X;
player.newPosition.Y = Player.startPosition.Y;
Player.butonik = true;
}
}
if (PipeClient.GetOutput("Q0.0"))
{
if (!Piston.butonik)
{
piston.direction = Piston.Direction.A1;
piston.newPosition = Piston.endPosition;
Piston.butonik = true;
}
}
if (PipeClient.GetOutput("Q0.1"))
{
if (!Piston.butonik)
{
piston.direction = Piston.Direction.A0;
piston.newPosition = Piston.startPosition;
Piston.butonik = true;
}
}
if (PipeClient.GetOutput("Q0.2"))
{
conveyor.state = Conveyor.StateList.Run;
}
if (PipeClient.GetOutput("Q0.3"))
{
conveyor.state = Conveyor.StateList.Stop;
}
if (PipeClient.GetOutput("Q1.1"))
{
if (Gripper.isPossibleToChangeState)
{
System.Diagnostics.Debug.WriteLine("opened");
gripper.state = Gripper.StateList.Open;
}
}
if (PipeClient.GetOutput("Q1.2"))
{
System.Diagnostics.Debug.WriteLine("closed");
gripper.state = Gripper.StateList.Close;
}
}
public void Update(Player player, Conveyor conveyor, Gripper gripper, Piston piston, List <Block> blocks)
{
if (Position == Block.startPosition)
{
direction = Direction.X1;
platformIsBusy = true;
}
else if (Position == onConveyor)
{
direction = Direction.X2;
platformIsBusy = false;
}
else if (Position == endPosition)
{
direction = Direction.Y0;
}
Block prevBlock = null;
switch (this.direction)
{
case Direction.X1:
prevBlock = null;
for (int i = (blocks.Count - 1); i >= 0; i--)
{
if (this == blocks[0])
{
Vector2 distance2 = piston.Position - Position + new Vector2(-41, 0);
Position += distance2;
}
else if ((this == blocks[i]))
{
double x = this.Position.X;
double y = this.Position.Y;
if (!(x < (blocks[i - 1].Position.X + 41)) && y == blocks[i - 1].Position.Y)
{
Vector2 distance2 = piston.Position - Position + new Vector2(-41, 0);
Position += distance2;
}
else
{
if (!blocks[i - 1].locked)
{
Vector2 distance2 = piston.Position - Position + new Vector2(-41, 0);
Position += distance2;
}
else
{
//Console.WriteLine("Piston locked");
pistonLocked = true;
}
}
}
}
for (int i = (blocks.Count - 1); i >= 0; i--)
{
if (prevBlock != null)
{
double x = prevBlock.Position.X;
double y = prevBlock.Position.Y;
if ((x < (blocks[i].Position.X + 41)) && y == blocks[i].Position.Y)
{
if (!blocks[i].locked)
{
blocks[i].Position = new Vector2(blocks[i].Position.X - 1, blocks[i].Position.Y);
}
}
}
prevBlock = blocks[i];
}
break;
case Direction.X2:
if (conveyor.state == Conveyor.StateList.Run)
{
if (!this.locked)
{
this.velocity = new Vector2(1f, 0);
this.Position -= velocity;
}
}
if (CheckCollisionWithGripper(player))
{
locked = true;
}
else
{
locked = false;
pistonLocked = false;
}
for (int i = (blocks.Count - 1); i >= 0; i--)
{
if ((this == blocks[i]) && (i != 0))
{
double x = this.Position.X;
double y = this.Position.Y;
if ((x < (blocks[i - 1].Position.X + 42)) && y == blocks[i - 1].Position.Y)
{
if (blocks[i - 1].direction == Direction.Y0 || blocks[i - 1].locked)
{
blocks[i].locked = true;
}
}
}
}
break;
case Direction.Y0:
if (this.Position != endPosition && !set)
{
set = true;
}
else if (this.Position == endPosition && set)
{
set = false;
}
if (gripper.state == Gripper.StateList.Close && player.Position == manipulatorPosition)
{
grab = true;
//Console.WriteLine("grab = true");
}
else if (gripper.state == Gripper.StateList.Open && player.Position == manipulatorPosition)
{
grab = false;
}
if (gripper.state == Gripper.StateList.Close && grab)
{
if (!abandon)
{
Vector2 distance3 = player.Position - this.Position + new Vector2(24, 255);
this.Position += distance3;
}
else
{
if (this.Position.Y < removeBlockY)
{
this.Position = new Vector2(Position.X, Position.Y + 1);
}
else if (this.Position.Y == removeBlockY)
{
blocks.Remove(this);
}
}
}
else if (gripper.state == Gripper.StateList.Open && grab)
{
abandon = true;
if (this.Position.Y < removeBlockY)
{
Vector2 distance3 = player.Position + this.Position + new Vector2(24, 255) - new Vector2(0, 578);
if (distance3.Y < 30)
{
Player.ManipulatorLocked = true;
}
else
{
Player.ManipulatorLocked = false;
}
this.Position = new Vector2(Position.X, Position.Y + 1);
}
else if (this.Position.Y == removeBlockY)
{
blocks.Remove(this);
}
}
break;
case Direction.Y1:
if (piston.Position == Piston.startPosition && !platformIsBusy & !pistonLocked)
{
this.velocity = new Vector2(0, 1f);
this.Position += velocity;
}
break;
}
}
public void Update(Gripper gripper, List <Block> blocks, Texture2D texture)
{
if (gripper.state == Gripper.StateList.Open)
{
sprite = spriteForOpen;
}
else if (gripper.state == Gripper.StateList.Close)
{
sprite = spriteForClose;
}
if (Position == this.newPosition)
{
butonik = false;
this.prevDirection = this.direction;
return;
}
else
{
if (!ManipulatorLocked)
{
switch (this.direction)
{
case Direction.A0:
if (!ColisionRight(gripper))
{
this.velocity = new Vector2(1f, 0);
Position += velocity;
}
endArmA = false;
break;
case Direction.A1:
if (!ColisionLeft(gripper))
{
if ((prevDirection == Direction.A0 || prevDirection == Direction.B0 || prevDirection == Direction.B1) && !endArmA)
{
this.velocity = new Vector2(1f, 0);
Position -= velocity;
}
else if ((prevDirection == Direction.A2 || prevDirection == Direction.B0 || prevDirection == Direction.B1) && endArmA)
{
this.velocity = new Vector2(1f, 0);
Position += velocity;
}
}
else
{
butonik = false;
}
break;
case Direction.A2:
if (!ColisionLeft(gripper))
{
this.velocity = new Vector2(1f, 0);
Position -= velocity;
endArmA = true;
}
else
{
butonik = false;
}
break;
case Direction.B0:
this.velocity = new Vector2(0, 1f);
Position -= velocity;
break;
case Direction.B1:
if (!ColisionDown(blocks))
{
this.velocity = new Vector2(0, 1f);
Position += velocity;
}
break;
}
}
}
//this.Draw(texture);
}
