public void PerformAction(ICvarcEngine engine, string actor, string action)
{
var robotBody = engine.GetBody(actor);
if (action == "Grip")
{
Grip(engine, robotBody);
}
if (action == "Release")
{
Release(engine, robotBody);
}
}
private void Release(ICvarcEngine engine, Body Body)
{
var latestGripped = Body.FirstOrDefault(z => z.Type.StartsWith("D") && z.Type.Length == 2);
if (latestGripped == null)
{
return;
}
var absoluteLocation = latestGripped.GetAbsoluteLocation();
Body.Remove(latestGripped);
latestGripped.FrictionCoefficient = frictionCoefficientsById.SafeGet(latestGripped.Id);
var targetColor = latestGripped.Type[1].ToString();
latestGripped.Location = absoluteLocation;
latestGripped.Velocity = Body.Velocity;
var toAtt = Body.TreeRoot.GetSubtreeChildrenFirst()
.Where(a =>
(a.Type == "VW" + targetColor || a.Type == "HW" + targetColor) &&
Distance(latestGripped, a) < 30)
.OfType <Box>()
.FirstOrDefault();
if (toAtt != null)
{
Body.TreeRoot.Remove(toAtt);
var wall = new Box
{
Type = toAtt.Type.Substring(0, 2),
XSize = toAtt.XSize,
YSize = toAtt.YSize,
ZSize = toAtt.ZSize,
Location = toAtt.Location,
DefaultColor = SRCompetitions.WallColor,
IsStatic = true,
IsMaterial = true
};
Body.TreeRoot.Add(wall);
engine.RaiseOnCollision(Body.Id.ToString(), toAtt.Id.ToString(), GetCollisionType(targetColor));
}
else
{
Body.TreeRoot.Add(latestGripped);
}
// gripped.RemoveRange(0, gripped.Count);
}
private void Grip(ICvarcEngine engine, Body Body)
{
var gripped = Body.ToList();
if (gripped.Any())
{
return;
}
var found = Body.TreeRoot.GetSubtreeChildrenFirst().FirstOrDefault(a => CanBeAttached(Body, a) && (a.Parent.Id == a.TreeRoot.Id));
if (found != null)
{
Body latestGripped = null;
var oldGrippedCount = gripped.Count;
if (oldGrippedCount > 0)
{
latestGripped = gripped.Last();
if (found.DefaultColor != latestGripped.DefaultColor)
{
return;
}
}
var tempfound = found;
while (tempfound.Any())
{
tempfound = tempfound.FirstOrDefault();
gripped.Add(tempfound);
}
if (oldGrippedCount > 0)
{
Body.Remove(latestGripped);
if (latestGripped != null)
{
latestGripped.Location = new Frame3D(0, 0, 8, Angle.Zero, Angle.Zero, Angle.Zero);
tempfound.Add(latestGripped);
}
}
CaptureDevicet(Body, found);
gripped.Add(found);
}
}
public Body CreateWorld(ICvarcEngine engine, ISceneSettings _settings)
{
Settings = (SceneSettings)_settings;
var root = new Body();
var first = new Cylinder
{
Height = 20,
RTop = 10,
RBottom = 10,
Location = new Frame3D(-150 + 25 - 10, 100 - 25 + 10, 3),
DefaultColor = Color.DarkViolet,
IsMaterial = true,
Density = Density.Iron,
FrictionCoefficient = 0,
Top = new PlaneImageBrush {
Image = new Bitmap(GetResourceStream("red.png"))
},
Type = "Robot"
};
var second = new Cylinder
{
Height = 20,
RTop = 10,
RBottom = 10,
Location = new Frame3D(150 - 25 + 10, 100 - 25 + 10, 3, Angle.Zero, Angle.Pi, Angle.Zero),
DefaultColor = Color.DarkViolet,
IsMaterial = true,
Density = Density.Iron,
FrictionCoefficient = 0,
Top = new PlaneImageBrush {
Image = new Bitmap(GetResourceStream("blue.png"))
},
Type = "Robot"
};
root.Add(first);
root.Add(second);
first.Collision += body => engine.RaiseOnCollision(first.Id.ToString(), body.Id.ToString(), CollisionType.RobotCollision);
second.Collision += body => engine.RaiseOnCollision(second.Id.ToString(), body.Id.ToString(), CollisionType.RobotCollision);
root.Add(new Box
{
XSize = 300,
YSize = 200,
ZSize = 3,
DefaultColor = Color.White,
Top = new SolidColorBrush {
Color = Color.Yellow
},
IsStatic = true,
Type = "floor",
});
foreach (var detail in Settings.Details)
{
Color color = Color.White;
string name = "D";
switch (detail.Color)
{
case DetailColor.Red: color = Color.Red; name += "R"; break;
case DetailColor.Blue: color = Color.Blue; name += "B"; break;
case DetailColor.Green: color = Color.Green; name += "G"; break;
}
var box = new Box
{
XSize = 15,
YSize = 15,
ZSize = 15,
Location = new Frame3D(-150 + 25 + detail.Location.X * 50, 100 - 25 - 50 * detail.Location.Y, 0),
DefaultColor = color,
Type = name,
IsMaterial = true,
IsStatic = false,
FrictionCoefficient = 8
};
root.Add(box);
box.Collision += body =>
{
if (box.Parent.Id == first.Id && body.Id == second.Id)
{
engine.RaiseOnCollision(second.Id.ToString(), first.Id.ToString(), CollisionType.RobotCollision);
}
if (box.Parent.Id == second.Id && body.Id == first.Id)
{
engine.RaiseOnCollision(first.Id.ToString(), second.Id.ToString(), CollisionType.RobotCollision);
}
};
}
CreateWalls(root, Settings.HorizontalWalls, 50, 10, 15, "HW", (x, y) => new Point(-150 + 25 + x * 50, 100 - (y + 1) * 50));
CreateWalls(root, Settings.VerticalWalls, 10, 50, 14, "VW", (x, y) => new Point(-150 + (x + 1) * 50, 100 - 25 - y * 50));
CreateBorders(root);
return(root);
}
public Body CreateWorld(ICvarcEngine engine, ISceneSettings _settings)
{
Settings = (SceneSettings)_settings;
var root = new Body();
var first = new Cylinder
{
Height = 20,
RTop = 10,
RBottom = 10,
Location = new Frame3D(-150 + 25 - 10, 100 - 25 + 10, 3),
DefaultColor = Color.DarkViolet,
IsMaterial = true,
Density = Density.Iron,
FrictionCoefficient = 0,
Top = new PlaneImageBrush { Image = new Bitmap(GetResourceStream("red.png")) },
Type = "Robot"
};
var second = new Cylinder
{
Height = 20,
RTop = 10,
RBottom = 10,
Location = new Frame3D(150 - 25 + 10, 100 - 25 + 10, 3, Angle.Zero, Angle.Pi, Angle.Zero),
DefaultColor = Color.DarkViolet,
IsMaterial = true,
Density = Density.Iron,
FrictionCoefficient = 0,
Top = new PlaneImageBrush { Image = new Bitmap(GetResourceStream("blue.png")) },
Type = "Robot"
};
root.Add(first);
root.Add(second);
first.Collision += body => engine.RaiseOnCollision(first.Id.ToString(), body.Id.ToString(), CollisionType.RobotCollision);
second.Collision += body => engine.RaiseOnCollision(second.Id.ToString(), body.Id.ToString(), CollisionType.RobotCollision);
root.Add(new Box
{
XSize = 300,
YSize = 200,
ZSize = 3,
DefaultColor = Color.White,
Top = new SolidColorBrush { Color = Color.Yellow },
IsStatic = true,
Type = "floor",
});
foreach (var detail in Settings.Details)
{
Color color = Color.White;
string name = "D";
switch (detail.Color)
{
case DetailColor.Red: color = Color.Red; name += "R"; break;
case DetailColor.Blue: color = Color.Blue; name += "B"; break;
case DetailColor.Green: color = Color.Green; name += "G"; break;
}
var box = new Box
{
XSize = 15,
YSize = 15,
ZSize = 15,
Location = new Frame3D(-150 + 25 + detail.Location.X * 50, 100 - 25 - 50 * detail.Location.Y, 0),
DefaultColor = color,
Type = name,
IsMaterial = true,
IsStatic = false,
FrictionCoefficient = 8
};
root.Add(box);
box.Collision += body =>
{
if (box.Parent.Id == first.Id && body.Id == second.Id)
engine.RaiseOnCollision(second.Id.ToString(), first.Id.ToString(), CollisionType.RobotCollision);
if (box.Parent.Id == second.Id && body.Id == first.Id)
engine.RaiseOnCollision(first.Id.ToString(), second.Id.ToString(), CollisionType.RobotCollision);
};
}
CreateWalls(root, Settings.HorizontalWalls, 50, 10, 15, "HW", (x, y) => new Point(-150 + 25 + x * 50, 100 - (y + 1) * 50));
CreateWalls(root, Settings.VerticalWalls, 10, 50, 14, "VW", (x, y) => new Point(-150 + (x + 1) * 50, 100 - 25 - y * 50));
CreateBorders(root);
return root;
}
private void Grip(ICvarcEngine engine, Body Body)
{
var gripped = Body.ToList();
if (gripped.Any()) return;
var found = Body.TreeRoot.GetSubtreeChildrenFirst().FirstOrDefault(a => CanBeAttached(Body, a) && (a.Parent.Id == a.TreeRoot.Id));
if (found != null)
{
Body latestGripped = null;
var oldGrippedCount = gripped.Count;
if (oldGrippedCount > 0)
{
latestGripped = gripped.Last();
if (found.DefaultColor != latestGripped.DefaultColor)
return;
}
var tempfound = found;
while (tempfound.Any())
{
tempfound = tempfound.FirstOrDefault();
gripped.Add(tempfound);
}
if (oldGrippedCount > 0)
{
Body.Remove(latestGripped);
if (latestGripped != null)
{
latestGripped.Location = new Frame3D(0, 0, 8, Angle.Zero, Angle.Zero, Angle.Zero);
tempfound.Add(latestGripped);
}
}
CaptureDevicet(Body, found);
gripped.Add(found);
}
}
private void Release(ICvarcEngine engine, Body Body)
{
var latestGripped = Body.FirstOrDefault(z => z.Type.StartsWith("D") && z.Type.Length == 2);
if (latestGripped == null) return;
var absoluteLocation = latestGripped.GetAbsoluteLocation();
Body.Remove(latestGripped);
latestGripped.FrictionCoefficient = frictionCoefficientsById.SafeGet(latestGripped.Id);
var targetColor = latestGripped.Type[1].ToString();
latestGripped.Location = absoluteLocation;
latestGripped.Velocity = Body.Velocity;
var toAtt = Body.TreeRoot.GetSubtreeChildrenFirst()
.Where(a =>
(a.Type == "VW" + targetColor || a.Type == "HW" + targetColor) &&
Distance(latestGripped, a) < 30)
.OfType<Box>()
.FirstOrDefault();
if (toAtt != null)
{
Body.TreeRoot.Remove(toAtt);
var wall = new Box
{
Type = toAtt.Type.Substring(0, 2),
XSize = toAtt.XSize,
YSize = toAtt.YSize,
ZSize = toAtt.ZSize,
Location = toAtt.Location,
DefaultColor = SRCompetitions.WallColor,
IsStatic = true,
IsMaterial = true
};
Body.TreeRoot.Add(wall);
engine.RaiseOnCollision(Body.Id.ToString(), toAtt.Id.ToString(), GetCollisionType(targetColor));
}
else
Body.TreeRoot.Add(latestGripped);
// gripped.RemoveRange(0, gripped.Count);
}
public void PerformAction(ICvarcEngine engine, string actor, string action)
{
var robotBody = engine.GetBody(actor);
if (action == "Grip") Grip(engine, robotBody);
if (action == "Release") Release(engine, robotBody);
}
