public DataGridView Pack_Elements(int Table_length, int Table_width, DataGridView Elements)
{
//
// Packing elements in sequence along X axis of table,
// with horizontal orientation exclusively.
//
// Algorithm has optimisation for adjusting area
// of positions along X axes
//
//
// This method needs three arguments and returns one argument.
// Table_length, Table_width and DataGridView Elements.
//
// Structure of DataGridView that is going to be passed as argument,
// from caller method, must be the same as structure of
// DataGridView ELEMENT_LIST.
//
// Method returns DataGridView TABLE_LIST with data
// of packed elements: index, x, y, length and width.
//
//
//
//
Initialize_Tables();
//
//
//
Initialize_Variables();
//
// Set table length and width
//
Tl = Table_length;
Tw = Table_width;
//
// Copy element dimensions from DataGridView Elements
// to ELEMENT_LIST table and format it's values
//
// Set elements counter to zero
n = 0;
// Set table row counter to zero
i = 0;
// Fill ELEMENT_LIST
for (i = 0; i < Elements.RowCount; i++)
{
if (Elements[1, i].Value != null)
{
ELEMENT_LIST.Rows.Add();
ELEMENT_LIST[0, i].Value = (int.Parse(Elements[0, i].Value.ToString())).ToString(format);
ELEMENT_LIST[1, i].Value = (int.Parse(Elements[1, i].Value.ToString())).ToString(format);
ELEMENT_LIST[2, i].Value = (int.Parse(Elements[2, i].Value.ToString())).ToString(format);
ELEMENT_LIST[3, i].Value = (int.Parse(Elements[3, i].Value.ToString())).ToString(format);
ELEMENT_LIST[4, i].Value = (int.Parse(Elements[4, i].Value.ToString())).ToString(format);
// Increase elements counter by one
n++;
}
}
//
// Sort elements in descending sort order
// first by area then by length then by width of elements
//
ELEMENT_LIST.Sort(ELEMENT_LIST.Columns[3], ListSortDirection.Descending);
// Set position coordinates to origin
p_X = 0;
p_Y = 0;
//
// Enter coordinates and dimensions
// of first position in table 'POSITION_LIST'
//
POSITION_LIST.Rows.Add(p_X.ToString(format), // X coordinate
p_Y.ToString(format), // Y coordinate
Tl.ToString(format), // table lenght
Tw.ToString(format)); // table width
// Set position counter to one
k = 1;
// Set counter of packed elements to zero
p = 0;
//
// Pack elements while there is free positions and
// elements for packing
//
while (k > 0 && n > 0)
{
// Sort positions in ascending sort order first by Y, and then by X axes
POSITION_LIST.Sort(POSITION_LIST.Columns[1], ListSortDirection.Ascending);
// Get length and width of first position in 'POSITION_LIST'
Pl = int.Parse(POSITION_LIST[2, 0].Value.ToString());
Pw = int.Parse(POSITION_LIST[3, 0].Value.ToString());
// Calculate fitting factor for each element for the first position
for (i = 0; i < n; i++)
{
// Element length
l = int.Parse(ELEMENT_LIST[1, i].Value.ToString());
// Element width
w = int.Parse(ELEMENT_LIST[2, i].Value.ToString());
// Set fitting factor initial value
f = 0;
// Does element fits inside position
if (Pl < l || Pw < w)
{
// If not
f = 0;
}
else
{
// If yes
f++;
//
if (Pl == l)
{
// If element fits exactly across lenght of position
f++;
}
//
if (Pw == w)
{
// If element fits exactly across width of position
f++;
}
}
// Enter fitting factor value inside ELEMENT_LIST table
ELEMENT_LIST[4, i].Value = f.ToString(format);
}
//
// Sort elements in descending sort order first by fitting factor value,
// then by area then by length then by width of elements
//
ELEMENT_LIST.Sort(ELEMENT_LIST.Columns[4], ListSortDirection.Descending);
//
// Get fitting factor value for the first element
//
f = int.Parse(ELEMENT_LIST[4, 0].Value.ToString());
//
// If fitting factor is greater than zero
// element can be packed inside selected position
//
if (f > 0)
{
//
// Get coordinates of selected position
//
p_X = int.Parse(POSITION_LIST[0, 0].Value.ToString());
p_Y = int.Parse(POSITION_LIST[1, 0].Value.ToString());
// Get index, length and width of packed element
x = int.Parse(ELEMENT_LIST[0, 0].Value.ToString());
l = int.Parse(ELEMENT_LIST[1, 0].Value.ToString());
w = int.Parse(ELEMENT_LIST[2, 0].Value.ToString());
//
// Enter coordinates of position,
// element dimensions and index,
// at TABLE LIST
//
TABLE_LIST.Rows.Add();
TABLE_LIST[0, p].Value = x.ToString(); // index
TABLE_LIST[1, p].Value = p_X.ToString(); // position x
TABLE_LIST[2, p].Value = p_Y.ToString(); // position y
TABLE_LIST[3, p].Value = l.ToString(); // element length
TABLE_LIST[4, p].Value = w.ToString(); // element width
// Increase packed elements counter by one
p++;
// Erase packed element from list of elements
ELEMENT_LIST.Rows.RemoveAt(0);
// Decrease elements counter by one
n--;
//
// If there is free elements left
// seek for new positions
//
if (n > 0)
{
//
// Sort elements in descending sort order,
// first by area then by length then by width of elements
//
// This step is necessary for faster searching
// for element that can fit inside new positions
//
// And the elements are sorted accordingly to demand of
// second restriction in algorithm development
// for the next step in packing process
//
ELEMENT_LIST.Sort(ELEMENT_LIST.Columns[3], ListSortDirection.Descending);
// Set new position 'is adequate' state flag
P_ok = true;
//
// New position II with coordinates
// at upper left corner of previous
// packed element
//
if (Pw > w)
{
//
// Initialize local variables
//
X12 = 0;
Y12 = 0;
L12 = 0;
W12 = 0;
A12 = 0;
// Set new position 'is adequate' state flag
P_ok = false;
//
// Coordinates of new position II
//
X12 = p_X;
Y12 = p_Y + w;
//
// Length, width and area of new position II
//
L12 = Tl - X12;
W12 = Pw - w;
A12 = L12 * W12;
//
// Find is there element left that can fit inside position
//
// Set ELEMENT_LIST table counter value
i = n - 1;
//
// Get area of the last element in table
//
a = int.Parse(ELEMENT_LIST[3, i].Value.ToString());
while (a <= A12 && i > -1)
{
//
// Get next element area
//
a = int.Parse(ELEMENT_LIST[3, i].Value.ToString());
//
// Get element length and width value
//
Lmin = int.Parse(ELEMENT_LIST[1, i].Value.ToString());
Wmin = int.Parse(ELEMENT_LIST[2, i].Value.ToString());
//
// If element can fit
// at observed position,
// set new position II at list of positions
//
if (L12 >= Lmin && W12 >= Wmin)
{
POSITION_LIST.Rows.Add(X12.ToString(format),
Y12.ToString(format),
L12.ToString(format),
W12.ToString(format));
// Increase positions counter by one
k++;
// Set new position 'is adequate' state flag
P_ok = true;
// Set counter value to loop exit value
i = -1;
}
// Decrease elements counter by one
i--;
}
}
//
// New position I with coordinates
// at lower right corner of previous
// packed element
//
if (Pl > l)
{
//
// Initialize local variables
//
X11 = 0;
Y11 = 0;
L11 = 0;
W11 = 0;
A11 = 0;
//
// Coordinates of new position I
//
X11 = p_X + l;
Y11 = p_Y;
//
// Length, width and area of new position I
//
L11 = Tl - X11;
W11 = w;
A11 = L11 * W11;
//
// If position two is inadeqate,
// adjust width of position one
//
if (!P_ok)
{
W11 = W11 + W12;
A11 = L11 * W11;
}
//
// Find is there element left that can fit inside position
//
// Set element counter value
i = n - 1;
//
// Get area of the last element in table
//
a = int.Parse(ELEMENT_LIST[3, i].Value.ToString());
while (a <= A11 && i > -1)
{
//
// Get next element area
//
a = int.Parse(ELEMENT_LIST[3, i].Value.ToString());
//
// Get element length and width value
//
Lmin = int.Parse(ELEMENT_LIST[1, i].Value.ToString());
Wmin = int.Parse(ELEMENT_LIST[2, i].Value.ToString());
//
// If there is element that can fit
// at position,
// set new position I at list of positions
//
if (L11 >= Lmin && W11 >= Wmin)
{
POSITION_LIST.Rows.Add(X11.ToString(format),
Y11.ToString(format),
L11.ToString(format),
W11.ToString(format));
// Increase positions counter by one
k++;
// Set counter value to loop exit value
i = -1;
}
// Decrease elements counter by one
i--;
}
}
}
}
//
// Is there free elements left for packing
//
if (n > 0)
{
//
// Erase first position from list
//
POSITION_LIST.Rows.RemoveAt(0);
// Decrease positions counter by one
k--;
}
}
//
// End of packing process
//
return(TABLE_LIST);
}
// Update is called once per frame
void Update()
{
NowCursorState = tmpCursor.GetComponent <AnimatedCursor>().tmpCursorState;
PlaceBtnState = PlaceButton.GetComponent <ButtonInteraction>().NowButtonState;
DeleteBtnState = DeleteButton.GetComponent <ButtonInteraction>().NowButtonState;
CancelBtnState = CancelButton.GetComponent <ButtonInteraction>().NowButtonState;
lineRenderer = GetComponent <LineRenderer>();
//Debug.Log("Cursor Position: " + tmpCursor.transform.position);
//Vector3 CursorPosition = tmpCursor.GetComponent<Transform>().position;
if ((ButtonInteraction.PosState == PosButtonType.PLACE) && (NowCursorState == CursorStateEnum.Release) &&
(PlaceBtnState != ButtonStateEnum.Targeted) && (PlaceBtnState != ButtonStateEnum.Pressed) &&
(DeleteBtnState != ButtonStateEnum.Observation) && (CancelBtnState != ButtonStateEnum.Observation))
{
if (SizeButtonCollection.SizeButtonState == SizeButtonType.MEDIUM)
{
offset = 6.0f;
}
else if (SizeButtonCollection.SizeButtonState == SizeButtonType.LARGE)
{
offset = 8.0f;
}
else if (SizeButtonCollection.SizeButtonState == SizeButtonType.SMALL)
{
offset = 5.0f;
}
Vector3 FinalPos = tmpCursor.transform.position - new Vector3(0f, 0f, 0.1f) * offset;
Instantiate(PlaneObject, FinalPos, transform.rotation, this.transform); //Genarate the drone
ChildCount = this.transform.childCount;
/*Use to process the three Red Light*/
if (ChildCount > 1)
{
Vector3 pos1, pos2; //the position of two way point(drone)
Vector3 p0, p1, p2, p3, p4, p5, p6, p7, p8, p9, p10, p11, p12, p13, p14, p15, p16, p17, p18; //Red light initial position
pos1 = this.gameObject.transform.GetChild(ChildCount - 2).transform.position;
pos2 = this.gameObject.transform.GetChild(ChildCount - 1).transform.position;
p0 = (pos1 * 1 + pos2 * 19) / 20;
p1 = (pos1 * 2 + pos2 * 18) / 20;
p2 = (pos1 * 3 + pos2 * 17) / 20;
p3 = (pos1 * 4 + pos2 * 16) / 20;
p4 = (pos1 * 5 + pos2 * 15) / 20;
p5 = (pos1 * 6 + pos2 * 14) / 20;
p6 = (pos1 * 7 + pos2 * 13) / 20;
p7 = (pos1 * 8 + pos2 * 12) / 20;
p8 = (pos1 * 9 + pos2 * 11) / 20;
p9 = (pos1 * 10 + pos2 * 10) / 20;
p10 = (pos1 * 11 + pos2 * 9) / 20;
p11 = (pos1 * 12 + pos2 * 8) / 20;
p12 = (pos1 * 13 + pos2 * 7) / 20;
p13 = (pos1 * 14 + pos2 * 6) / 20;
p14 = (pos1 * 15 + pos2 * 5) / 20;
p15 = (pos1 * 16 + pos2 * 4) / 20;
p16 = (pos1 * 17 + pos2 * 3) / 20;
p17 = (pos1 * 18 + pos2 * 2) / 20;
p18 = (pos1 * 19 + pos2 * 1) / 20;
L0 = Instantiate(CloneRedLight_0, p0, this.gameObject.transform.GetChild(ChildCount - 2).transform.rotation, LightManager.transform);
L0.GetComponent <RedLightPos>().Obj1 = this.gameObject.transform.GetChild(ChildCount - 2).gameObject;
L0.GetComponent <RedLightPos>().Obj2 = this.gameObject.transform.GetChild(ChildCount - 1).gameObject;
L0.GetComponent <RedLightPos>().Current_Num = ChildCount - 2;
L1 = Instantiate(CloneRedLight_1, p1, this.gameObject.transform.GetChild(ChildCount - 2).transform.rotation, LightManager.transform);
L1.GetComponent <RedLightPos>().Obj1 = this.gameObject.transform.GetChild(ChildCount - 2).gameObject;
L1.GetComponent <RedLightPos>().Obj2 = this.gameObject.transform.GetChild(ChildCount - 1).gameObject;
L1.GetComponent <RedLightPos>().Current_Num = ChildCount - 2;
L2 = Instantiate(CloneRedLight_2, p2, this.gameObject.transform.GetChild(ChildCount - 2).transform.rotation, LightManager.transform);
L2.GetComponent <RedLightPos>().Obj1 = this.gameObject.transform.GetChild(ChildCount - 2).gameObject;
L2.GetComponent <RedLightPos>().Obj2 = this.gameObject.transform.GetChild(ChildCount - 1).gameObject;
L2.GetComponent <RedLightPos>().Current_Num = ChildCount - 2;
L3 = Instantiate(CloneRedLight_3, p3, this.gameObject.transform.GetChild(ChildCount - 2).transform.rotation, LightManager.transform);
L3.GetComponent <RedLightPos>().Obj1 = this.gameObject.transform.GetChild(ChildCount - 2).gameObject;
L3.GetComponent <RedLightPos>().Obj2 = this.gameObject.transform.GetChild(ChildCount - 1).gameObject;
L3.GetComponent <RedLightPos>().Current_Num = ChildCount - 2;
L4 = Instantiate(CloneRedLight_4, p4, this.gameObject.transform.GetChild(ChildCount - 2).transform.rotation, LightManager.transform);
L4.GetComponent <RedLightPos>().Obj1 = this.gameObject.transform.GetChild(ChildCount - 2).gameObject;
L4.GetComponent <RedLightPos>().Obj2 = this.gameObject.transform.GetChild(ChildCount - 1).gameObject;
L4.GetComponent <RedLightPos>().Current_Num = ChildCount - 2;
L5 = Instantiate(CloneRedLight_5, p5, this.gameObject.transform.GetChild(ChildCount - 2).transform.rotation, LightManager.transform);
L5.GetComponent <RedLightPos>().Obj1 = this.gameObject.transform.GetChild(ChildCount - 2).gameObject;
L5.GetComponent <RedLightPos>().Obj2 = this.gameObject.transform.GetChild(ChildCount - 1).gameObject;
L5.GetComponent <RedLightPos>().Current_Num = ChildCount - 2;
L6 = Instantiate(CloneRedLight_6, p6, this.gameObject.transform.GetChild(ChildCount - 2).transform.rotation, LightManager.transform);
L6.GetComponent <RedLightPos>().Obj1 = this.gameObject.transform.GetChild(ChildCount - 2).gameObject;
L6.GetComponent <RedLightPos>().Obj2 = this.gameObject.transform.GetChild(ChildCount - 1).gameObject;
L6.GetComponent <RedLightPos>().Current_Num = ChildCount - 2;
L7 = Instantiate(CloneRedLight_7, p7, this.gameObject.transform.GetChild(ChildCount - 2).transform.rotation, LightManager.transform);
L7.GetComponent <RedLightPos>().Obj1 = this.gameObject.transform.GetChild(ChildCount - 2).gameObject;
L7.GetComponent <RedLightPos>().Obj2 = this.gameObject.transform.GetChild(ChildCount - 1).gameObject;
L7.GetComponent <RedLightPos>().Current_Num = ChildCount - 2;
L8 = Instantiate(CloneRedLight_8, p8, this.gameObject.transform.GetChild(ChildCount - 2).transform.rotation, LightManager.transform);
L8.GetComponent <RedLightPos>().Obj1 = this.gameObject.transform.GetChild(ChildCount - 2).gameObject;
L8.GetComponent <RedLightPos>().Obj2 = this.gameObject.transform.GetChild(ChildCount - 1).gameObject;
L8.GetComponent <RedLightPos>().Current_Num = ChildCount - 2;
L9 = Instantiate(CloneRedLight_9, p9, this.gameObject.transform.GetChild(ChildCount - 2).transform.rotation, LightManager.transform);
L9.GetComponent <RedLightPos>().Obj1 = this.gameObject.transform.GetChild(ChildCount - 2).gameObject;
L9.GetComponent <RedLightPos>().Obj2 = this.gameObject.transform.GetChild(ChildCount - 1).gameObject;
L9.GetComponent <RedLightPos>().Current_Num = ChildCount - 2;
L10 = Instantiate(CloneRedLight_10, p10, this.gameObject.transform.GetChild(ChildCount - 2).transform.rotation, LightManager.transform);
L10.GetComponent <RedLightPos>().Obj1 = this.gameObject.transform.GetChild(ChildCount - 2).gameObject;
L10.GetComponent <RedLightPos>().Obj2 = this.gameObject.transform.GetChild(ChildCount - 1).gameObject;
L10.GetComponent <RedLightPos>().Current_Num = ChildCount - 2;
L11 = Instantiate(CloneRedLight_11, p11, this.gameObject.transform.GetChild(ChildCount - 2).transform.rotation, LightManager.transform);
L11.GetComponent <RedLightPos>().Obj1 = this.gameObject.transform.GetChild(ChildCount - 2).gameObject;
L11.GetComponent <RedLightPos>().Obj2 = this.gameObject.transform.GetChild(ChildCount - 1).gameObject;
L11.GetComponent <RedLightPos>().Current_Num = ChildCount - 2;
L12 = Instantiate(CloneRedLight_12, p12, this.gameObject.transform.GetChild(ChildCount - 2).transform.rotation, LightManager.transform);
L12.GetComponent <RedLightPos>().Obj1 = this.gameObject.transform.GetChild(ChildCount - 2).gameObject;
L12.GetComponent <RedLightPos>().Obj2 = this.gameObject.transform.GetChild(ChildCount - 1).gameObject;
L12.GetComponent <RedLightPos>().Current_Num = ChildCount - 2;
L13 = Instantiate(CloneRedLight_13, p13, this.gameObject.transform.GetChild(ChildCount - 2).transform.rotation, LightManager.transform);
L13.GetComponent <RedLightPos>().Obj1 = this.gameObject.transform.GetChild(ChildCount - 2).gameObject;
L13.GetComponent <RedLightPos>().Obj2 = this.gameObject.transform.GetChild(ChildCount - 1).gameObject;
L13.GetComponent <RedLightPos>().Current_Num = ChildCount - 2;
L14 = Instantiate(CloneRedLight_14, p14, this.gameObject.transform.GetChild(ChildCount - 2).transform.rotation, LightManager.transform);
L14.GetComponent <RedLightPos>().Obj1 = this.gameObject.transform.GetChild(ChildCount - 2).gameObject;
L14.GetComponent <RedLightPos>().Obj2 = this.gameObject.transform.GetChild(ChildCount - 1).gameObject;
L14.GetComponent <RedLightPos>().Current_Num = ChildCount - 2;
/////////////////////////////////////////
L15 = Instantiate(CloneRedLight_15, p15, this.gameObject.transform.GetChild(ChildCount - 2).transform.rotation, LightManager.transform);
L15.GetComponent <RedLightPos>().Obj1 = this.gameObject.transform.GetChild(ChildCount - 2).gameObject;
L15.GetComponent <RedLightPos>().Obj2 = this.gameObject.transform.GetChild(ChildCount - 1).gameObject;
L15.GetComponent <RedLightPos>().Current_Num = ChildCount - 2;
L16 = Instantiate(CloneRedLight_16, p16, this.gameObject.transform.GetChild(ChildCount - 2).transform.rotation, LightManager.transform);
L16.GetComponent <RedLightPos>().Obj1 = this.gameObject.transform.GetChild(ChildCount - 2).gameObject;
L16.GetComponent <RedLightPos>().Obj2 = this.gameObject.transform.GetChild(ChildCount - 1).gameObject;
L16.GetComponent <RedLightPos>().Current_Num = ChildCount - 2;
L17 = Instantiate(CloneRedLight_17, p17, this.gameObject.transform.GetChild(ChildCount - 2).transform.rotation, LightManager.transform);
L17.GetComponent <RedLightPos>().Obj1 = this.gameObject.transform.GetChild(ChildCount - 2).gameObject;
L17.GetComponent <RedLightPos>().Obj2 = this.gameObject.transform.GetChild(ChildCount - 1).gameObject;
L17.GetComponent <RedLightPos>().Current_Num = ChildCount - 2;
L18 = Instantiate(CloneRedLight_18, p18, this.gameObject.transform.GetChild(ChildCount - 2).transform.rotation, LightManager.transform);
L18.GetComponent <RedLightPos>().Obj1 = this.gameObject.transform.GetChild(ChildCount - 2).gameObject;
L18.GetComponent <RedLightPos>().Obj2 = this.gameObject.transform.GetChild(ChildCount - 1).gameObject;
L18.GetComponent <RedLightPos>().Current_Num = ChildCount - 2;
}
//WayPoint.Add(tmp);
//Debug.Log("InstantiateInstantiateInstantiateInstantiateInstantiateInstantiate");
}
/* Line Process*/
ChildCount = this.transform.childCount;
lineRenderer.SetVertexCount(ChildCount);
if (ChildCount > 1)
{
for (int i = 0; i < ChildCount; i++)
{
tmp = this.gameObject.transform.GetChild(i).gameObject;
lineRenderer.SetPosition(i, tmp.transform.position);
}
/*Obstacle Detect*/
for (int i = 0; i < ChildCount - 1; i++)
{
Obj1 = this.gameObject.transform.GetChild(i).gameObject;
Obj2 = this.gameObject.transform.GetChild(i + 1).gameObject;
Ray ray = new Ray(Obj1.transform.position, Obj2.transform.position - Obj1.transform.position);
RaycastHit hit;
//Debug.Log( i + " -> " + (i+1) + " distance : " + Vector3.Distance(Obj1.transform.position, Obj2.transform.position));
float distance = Vector3.Distance(Obj1.transform.position, Obj2.transform.position) - 0.1f;
Physics.Raycast(ray, out hit, distance, mask);
//When collision is NOT NULL, there is obstacles
if (hit.transform != null)
{
lineRenderer.material = LineMat2; // if collision the line become red
//Debug.Log("BBBBBBBBB");
//LineCollision = false; // Let Other Script Know Collision State
//LineCollisionNum = i + 1;
Debug.Log("Blocked by : " + hit.transform.name);
}
//If is NULL -> No Obstacles
else if (hit.transform == null)
{
lineRenderer.material = LineMat1;
//LineCollision = true;
//LineCollisionNum = -1;
//Debug.Log("NNNNNNNNN");
}
//Debug.Log("Line color : " + lineRenderer.material);
}
}
//if(ChildCount == 2) lineRenderer.SetPosition(2, new Vector3(0,0,1));
}
