//发生碰撞，赋给玩家
void OnTriggerEnter(Collider other)
{
if (other.gameObject.CompareTag("Tank"))
{
Item item = null;
switch (itemType)
{
case ItemType.Wrench:
item = new Wrench();
break;
case ItemType.Timer:
item = new Timer();
break;
case ItemType.Shileld:
item = new Shileld();
break;
case ItemType.OilBottle:
item = new OilBottle();
break;
case ItemType.Missle:
item = new Missle();
break;
}
other.gameObject.GetComponent <Tank>().item = item;
Destroy(gameObject);
}
}
public void reset()
{
lock ( mutex_ )
{
propulsion_model_.x.Initialize();
propulsion_model_.x_pred.Initialize();
propulsion_model_.u.Initialize();
propulsion_model_.y.Initialize();
wrench_ = new Wrench();
motor_status_ = new MotorStatus();
motor_status_.voltage = new float[4];
motor_status_.frequency = new float[4];
motor_status_.current = new float[4];
supply_ = new Supply();
supply_.voltage = new float[1];
supply_.voltage[0] = (float)initial_voltage_;
last_command_time_ = ROS.GetTime();
command_queue_ = new Queue <MotorPWM> ();
}
}
public Wrench limit (Wrench input)
{
Wrench output = new Wrench ();
output.force = force.limit ( input.force );
output.torque = torque.limit ( input.torque );
return output;
}
static void Main()
{
Worker W1 = new Worker("W1", Enums.WorkerStatus.WAITING);
Worker W2 = new Worker("W2", Enums.WorkerStatus.WAITING);
Worker W3 = new Worker("W3", Enums.WorkerStatus.WAITING);
Worker W4 = new Worker("W4", Enums.WorkerStatus.WAITING);
Screwdriver Scr1 = new Screwdriver("Scr1", Enums.ToolStatus.FREE);
Screwdriver Scr2 = new Screwdriver("Scr2", Enums.ToolStatus.FREE);
Wrench Wrc1 = new Wrench("Wrc1", Enums.ToolStatus.FREE);
Wrench Wrc2 = new Wrench("Wrc2", Enums.ToolStatus.FREE);
InitializeWorkers(W1, W2, W3, W4, Wrc1, Scr1, Wrc2, Scr2);
Thread w1 = new Thread(W1.Waiting);
Thread w2 = new Thread(W2.Waiting);
Thread w3 = new Thread(W3.Waiting);
Thread w4 = new Thread(W4.Waiting);
w1.Start();
w2.Start();
w3.Start();
w4.Start();
W1.Speak();
W2.Speak();
W3.Speak();
W4.Speak();
}
private void OnTriggerStay(Collider other)
{//hand layer can only interact with tool layer
if (!b_IstoolInRange)
{
toolInRange = other.GetComponent <Wrench>();
b_IstoolInRange = true;
}
}
// optional duration of wrench application time (seconds)
// if duration < 0, apply wrench continuously without end
// if duration = 0, do nothing
// if duration < step size, apply wrench
// for one step size
public ApplyBodyWrenchRequest()
{
this.body_name = "";
this.reference_frame = "";
this.reference_point = new Point();
this.wrench = new Wrench();
this.start_time = new Time();
this.duration = new Duration();
}
public ApplyBodyWrenchRequest(string body_name, string reference_frame, Point reference_point, Wrench wrench, Time start_time, Duration duration)
{
this.body_name = body_name;
this.reference_frame = reference_frame;
this.reference_point = reference_point;
this.wrench = wrench;
this.start_time = start_time;
this.duration = duration;
}
public Wrench RefPoint(Vector v_base_AB)
{
Wrench ret = new Wrench(kdlPINVOKE.Wrench_RefPoint(swigCPtr, Vector.getCPtr(v_base_AB)), true);
if (kdlPINVOKE.SWIGPendingException.Pending)
{
throw kdlPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public static Wrench Zero()
{
Wrench ret = new Wrench(kdlPINVOKE.Wrench_Zero(), true);
if (kdlPINVOKE.SWIGPendingException.Pending)
{
throw kdlPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public Wrench Inverse(Wrench arg)
{
Wrench ret = new Wrench(kdlPINVOKE.Rotation_Inverse__SWIG_2(swigCPtr, Wrench.getCPtr(arg)), true);
if (kdlPINVOKE.SWIGPendingException.Pending)
{
throw kdlPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public ContactState(string info, string collision1_name, string collision2_name, Wrench[] wrenches, Wrench total_wrench, Vector3[] contact_positions, Vector3[] contact_normals, double[] depths)
{
this.info = info;
this.collision1_name = collision1_name;
this.collision2_name = collision2_name;
this.wrenches = wrenches;
this.total_wrench = total_wrench;
this.contact_positions = contact_positions;
this.contact_normals = contact_normals;
this.depths = depths;
}
// list of penetration depths
public ContactState()
{
this.info = "";
this.collision1_name = "";
this.collision2_name = "";
this.wrenches = new Wrench[0];
this.total_wrench = new Wrench();
this.contact_positions = new Vector3[0];
this.contact_normals = new Vector3[0];
this.depths = new double[0];
}
public void reset()
{
lock ( mutex_ )
{
drag_model_.u.Initialize();
drag_model_.y.Initialize();
twist_ = new Twist();
wind_ = new Vector3();
wrench_ = new Wrench();
}
}
public void SendWrench(UnityEngine.Vector3 force, UnityEngine.Vector3 torque)
{
if (!init)
{
return;
}
Wrench wrench = new Wrench();
wrench.force = new Messages.geometry_msgs.Vector3(force.ToRos());
wrench.torque = new Messages.geometry_msgs.Vector3(torque.ToRos());
wrenchPub.publish(wrench);
}
/// <summary>
/// Detach Attached tool
/// </summary>
void DetachTool()
{
toolInRange = attachedTool;
attachedTool.OnScrewLock -= LockToScrew;
attachedTool.m_Rigidbody.isKinematic = false;
attachedTool.transform.parent = null;
attachedTool.lockedWrenchHead = null;
attachedTool.lockedScrew = null;
attachedTool = null;
transform.rotation = Quaternion.identity;
MouseInputHandler.instance.b_LockPointerHeight = false;
MouseInputHandler.instance.pointerHeight = basePlaneheight;
animator.SetBool("Hold", false);
}
public override void Randomize()
{
int arraylength = -1;
Random rand = new Random();
int strlength;
byte[] strbuf, myByte;
//body_name
strlength = rand.Next(100) + 1;
strbuf = new byte[strlength];
rand.NextBytes(strbuf); //fill the whole buffer with random bytes
for (int __x__ = 0; __x__ < strlength; __x__++)
{
if (strbuf[__x__] == 0) //replace null chars with non-null random ones
{
strbuf[__x__] = (byte)(rand.Next(254) + 1);
}
}
strbuf[strlength - 1] = 0; //null terminate
body_name = Encoding.ASCII.GetString(strbuf);
//reference_frame
strlength = rand.Next(100) + 1;
strbuf = new byte[strlength];
rand.NextBytes(strbuf); //fill the whole buffer with random bytes
for (int __x__ = 0; __x__ < strlength; __x__++)
{
if (strbuf[__x__] == 0) //replace null chars with non-null random ones
{
strbuf[__x__] = (byte)(rand.Next(254) + 1);
}
}
strbuf[strlength - 1] = 0; //null terminate
reference_frame = Encoding.ASCII.GetString(strbuf);
//reference_point
reference_point = new Point();
reference_point.Randomize();
//wrench
wrench = new Wrench();
wrench.Randomize();
//start_time
start_time = new Time(new TimeData(
Convert.ToUInt32(rand.Next()),
Convert.ToUInt32(rand.Next())));
//duration
duration = new Duration(new TimeData(
Convert.ToUInt32(rand.Next()),
Convert.ToUInt32(rand.Next())));
}
public override byte[] Serialize(bool partofsomethingelse)
{
int currentIndex = 0, length = 0;
bool hasmetacomponents = false;
byte[] thischunk, scratch1, scratch2;
List <byte[]> pieces = new List <byte[]>();
GCHandle h;
//header
if (header == null)
{
header = new Header();
}
pieces.Add(header.Serialize(true));
//pose
if (pose == null)
{
pose = new Pose();
}
pieces.Add(pose.Serialize(true));
//twist
if (twist == null)
{
twist = new Twist();
}
pieces.Add(twist.Serialize(true));
//wrench
if (wrench == null)
{
wrench = new Wrench();
}
pieces.Add(wrench.Serialize(true));
//combine every array in pieces into one array and return it
int __a_b__f = pieces.Sum((__a_b__c) => __a_b__c.Length);
int __a_b__e = 0;
byte[] __a_b__d = new byte[__a_b__f];
foreach (var __p__ in pieces)
{
Array.Copy(__p__, 0, __a_b__d, __a_b__e, __p__.Length);
__a_b__e += __p__.Length;
}
return(__a_b__d);
}
public override void Deserialize(byte[] SERIALIZEDSTUFF, ref int currentIndex)
{
int arraylength = -1;
bool hasmetacomponents = false;
object __thing;
int piecesize = 0;
byte[] thischunk, scratch1, scratch2;
IntPtr h;
//header
header = new Header(SERIALIZEDSTUFF, ref currentIndex);
//pose
pose = new Pose(SERIALIZEDSTUFF, ref currentIndex);
//twist
twist = new Twist(SERIALIZEDSTUFF, ref currentIndex);
//wrench
wrench = new Wrench(SERIALIZEDSTUFF, ref currentIndex);
}
public override void Randomize()
{
int arraylength = -1;
Random rand = new Random();
int strlength;
byte[] strbuf, myByte;
//header
header = new Header();
header.Randomize();
//pose
pose = new Pose();
pose.Randomize();
//twist
twist = new Twist();
twist.Randomize();
//wrench
wrench = new Wrench();
wrench.Randomize();
}
public override void Deserialize(byte[] SERIALIZEDSTUFF, ref int currentIndex)
{
int arraylength = -1;
bool hasmetacomponents = false;
byte[] thischunk, scratch1, scratch2;
object __thing;
int piecesize = 0;
IntPtr h;
//body_name
body_name = "";
piecesize = BitConverter.ToInt32(SERIALIZEDSTUFF, currentIndex);
currentIndex += 4;
body_name = Encoding.ASCII.GetString(SERIALIZEDSTUFF, currentIndex, piecesize);
currentIndex += piecesize;
//reference_frame
reference_frame = "";
piecesize = BitConverter.ToInt32(SERIALIZEDSTUFF, currentIndex);
currentIndex += 4;
reference_frame = Encoding.ASCII.GetString(SERIALIZEDSTUFF, currentIndex, piecesize);
currentIndex += piecesize;
//reference_point
reference_point = new Point(SERIALIZEDSTUFF, ref currentIndex);
//wrench
wrench = new Wrench(SERIALIZEDSTUFF, ref currentIndex);
//start_time
start_time = new Time(new TimeData(
BitConverter.ToUInt32(SERIALIZEDSTUFF, currentIndex),
BitConverter.ToUInt32(SERIALIZEDSTUFF, currentIndex + Marshal.SizeOf(typeof(System.Int32)))));
currentIndex += 2 * Marshal.SizeOf(typeof(System.Int32));
//duration
duration = new Duration(new TimeData(
BitConverter.ToUInt32(SERIALIZEDSTUFF, currentIndex),
BitConverter.ToUInt32(SERIALIZEDSTUFF, currentIndex + Marshal.SizeOf(typeof(System.Int32)))));
currentIndex += 2 * Marshal.SizeOf(typeof(System.Int32));
}
public override byte[] Serialize(bool partofsomethingelse)
{
int currentIndex = 0, length = 0;
bool hasmetacomponents = false;
byte[] thischunk, scratch1, scratch2;
List <byte[]> pieces = new List <byte[]>();
GCHandle h;
//body_name
if (body_name == null)
{
body_name = "";
}
scratch1 = Encoding.ASCII.GetBytes((string)body_name);
thischunk = new byte[scratch1.Length + 4];
scratch2 = BitConverter.GetBytes(scratch1.Length);
Array.Copy(scratch1, 0, thischunk, 4, scratch1.Length);
Array.Copy(scratch2, thischunk, 4);
pieces.Add(thischunk);
//reference_frame
if (reference_frame == null)
{
reference_frame = "";
}
scratch1 = Encoding.ASCII.GetBytes((string)reference_frame);
thischunk = new byte[scratch1.Length + 4];
scratch2 = BitConverter.GetBytes(scratch1.Length);
Array.Copy(scratch1, 0, thischunk, 4, scratch1.Length);
Array.Copy(scratch2, thischunk, 4);
pieces.Add(thischunk);
//reference_point
if (reference_point == null)
{
reference_point = new Point();
}
pieces.Add(reference_point.Serialize(true));
//wrench
if (wrench == null)
{
wrench = new Wrench();
}
pieces.Add(wrench.Serialize(true));
//start_time
pieces.Add(BitConverter.GetBytes(start_time.data.sec));
pieces.Add(BitConverter.GetBytes(start_time.data.nsec));
//duration
pieces.Add(BitConverter.GetBytes(duration.data.sec));
pieces.Add(BitConverter.GetBytes(duration.data.nsec));
//combine every array in pieces into one array and return it
int __a_b__f = pieces.Sum((__a_b__c) => __a_b__c.Length);
int __a_b__e = 0;
byte[] __a_b__d = new byte[__a_b__f];
foreach (var __p__ in pieces)
{
Array.Copy(__p__, 0, __a_b__d, __a_b__e, __p__.Length);
__a_b__e += __p__.Length;
}
return(__a_b__d);
}
public override byte[] Serialize(bool partofsomethingelse)
{
int currentIndex = 0, length = 0;
bool hasmetacomponents = false;
byte[] thischunk, scratch1, scratch2;
List <byte[]> pieces = new List <byte[]>();
GCHandle h;
//info
if (info == null)
{
info = "";
}
scratch1 = Encoding.ASCII.GetBytes((string)info);
thischunk = new byte[scratch1.Length + 4];
scratch2 = BitConverter.GetBytes(scratch1.Length);
Array.Copy(scratch1, 0, thischunk, 4, scratch1.Length);
Array.Copy(scratch2, thischunk, 4);
pieces.Add(thischunk);
//collision1_name
if (collision1_name == null)
{
collision1_name = "";
}
scratch1 = Encoding.ASCII.GetBytes((string)collision1_name);
thischunk = new byte[scratch1.Length + 4];
scratch2 = BitConverter.GetBytes(scratch1.Length);
Array.Copy(scratch1, 0, thischunk, 4, scratch1.Length);
Array.Copy(scratch2, thischunk, 4);
pieces.Add(thischunk);
//collision2_name
if (collision2_name == null)
{
collision2_name = "";
}
scratch1 = Encoding.ASCII.GetBytes((string)collision2_name);
thischunk = new byte[scratch1.Length + 4];
scratch2 = BitConverter.GetBytes(scratch1.Length);
Array.Copy(scratch1, 0, thischunk, 4, scratch1.Length);
Array.Copy(scratch2, thischunk, 4);
pieces.Add(thischunk);
//wrenches
hasmetacomponents |= true;
if (wrenches == null)
{
wrenches = new Wrench[0];
}
pieces.Add(BitConverter.GetBytes(wrenches.Length));
for (int i = 0; i < wrenches.Length; i++)
{
//wrenches[i]
if (wrenches[i] == null)
{
wrenches[i] = new Wrench();
}
pieces.Add(wrenches[i].Serialize(true));
}
//total_wrench
if (total_wrench == null)
{
total_wrench = new Wrench();
}
pieces.Add(total_wrench.Serialize(true));
//contact_positions
hasmetacomponents |= true;
if (contact_positions == null)
{
contact_positions = new Vector3[0];
}
pieces.Add(BitConverter.GetBytes(contact_positions.Length));
for (int i = 0; i < contact_positions.Length; i++)
{
//contact_positions[i]
if (contact_positions[i] == null)
{
contact_positions[i] = new Vector3();
}
pieces.Add(contact_positions[i].Serialize(true));
}
//contact_normals
hasmetacomponents |= true;
if (contact_normals == null)
{
contact_normals = new Vector3[0];
}
pieces.Add(BitConverter.GetBytes(contact_normals.Length));
for (int i = 0; i < contact_normals.Length; i++)
{
//contact_normals[i]
if (contact_normals[i] == null)
{
contact_normals[i] = new Vector3();
}
pieces.Add(contact_normals[i].Serialize(true));
}
//depths
hasmetacomponents |= false;
if (depths == null)
{
depths = new double[0];
}
pieces.Add(BitConverter.GetBytes(depths.Length));
for (int i = 0; i < depths.Length; i++)
{
//depths[i]
scratch1 = new byte[Marshal.SizeOf(typeof(double))];
h = GCHandle.Alloc(scratch1, GCHandleType.Pinned);
Marshal.StructureToPtr(depths[i], h.AddrOfPinnedObject(), false);
h.Free();
pieces.Add(scratch1);
}
//combine every array in pieces into one array and return it
int __a_b__f = pieces.Sum((__a_b__c) => __a_b__c.Length);
int __a_b__e = 0;
byte[] __a_b__d = new byte[__a_b__f];
foreach (var __p__ in pieces)
{
Array.Copy(__p__, 0, __a_b__d, __a_b__e, __p__.Length);
__a_b__e += __p__.Length;
}
return(__a_b__d);
}
static void Main(string[] args)
{
int number = 0;
float floatNumber = 43.9F;
bool boolean = true;
number += 1;
var implicitVariable = false; // Guessed at compile time
Console.WriteLine(implicitVariable.GetType());
// implict conversion (when there is no loss of information)
// floatNumber = number;
// explicit conversion (needed when there is a loss of information)
number = (int)floatNumber;
Console.WriteLine(number);
// Definite assignment
int number2 = 100;
Console.WriteLine(number2);
Console.WriteLine((new Program()).number01);
int[] numbers = new int[4];
Console.WriteLine(numbers[0]);
float i = (1 + 2) / 6 + 4;
Console.WriteLine(i);
Tools.Wrench wrench = new Tools.Wrench();
Wrench wrench2 = new Wrench();
FantasyBook fantasy = new FantasyBook();
Message goodMorning = new Message("Body");
string pieceOfText = "Good Morning ";
goodMorning.SetMessage(ref pieceOfText);
Console.WriteLine(pieceOfText);
goodMorning.setMessages("Hello", "Hi", "Bye Bye");
Console.WriteLine(goodMorning.BodyOfText);
goodMorning.BodyOfText = "Hello";
Console.WriteLine(goodMorning.BodyOfText);
Console.WriteLine(goodMorning.BodyOfTextSize);
goodMorning.BodyOfTextSize = 2;
Console.WriteLine(goodMorning.BodyOfText);
Console.WriteLine("-----");
goodMorning.title = "Title";
Console.WriteLine(goodMorning.title);
PostIt postIt = new PostIt();
PostIt postIt2 = new PostIt();
goodMorning.BodyOfText = "Rupendra Bandyopadhyay";
Console.WriteLine(goodMorning[3]);
goodMorning[1] = (char)((int)goodMorning[1] + 'A' - 'a');
Console.WriteLine(goodMorning.BodyOfText);
// Operator Overloading
Message message = new Message("Body 1", "Title 1");
Message message1 = new Message("Body 2", "Title 2");
message = message + message1;
Console.WriteLine(message.title + ", " + message.BodyOfText);
// Inheritance
PostIt postIt3 = new PostIt();
postIt3.title = "My PostIT";
postIt3.BodyOfText = "New message for my post it";
Console.WriteLine(postIt3.BodyOfText);
Message m1 = (Message)postIt3 + new Message("\nBye");
Console.WriteLine(m1.BodyOfText);
// Csv Reader
CsvReader csvReader = new CsvReader(@"C:\Users\rupen\Documents\test_01.csv");
csvReader.read();
// Polymorphism
Message messageP1 = new Message("");
PostIt postItP1 = new PostIt();
SetMessages(messageP1);
SetMessages(postItP1);
messageP1.Lock();
message1.Unlock();
Paper paper = new Paper();
paper.Lock();
paper.Unlock();
ILock[] locks = new ILock[2];
locks[0] = messageP1;
locks[1] = paper;
foreach (ILock lok in locks)
{
lok.Lock();
lok.Unlock();
}
Console.Write("Calling Lock on ITarget: ");
ITarget target = messageP1;
target.Lock();
UseDelegate();
UseMulticastDelegate();
Console.WriteLine("Get JSON");
Console.WriteLine(GetJSON());
string json = GetJSON();
Account account = GetAccountFromJSON(json);
Console.WriteLine(account);
Console.WriteLine("Begin Publish to Kafka");
PublishToKafka("104.196.197.123:9092", "hello-kafka");
// PublishToKafka("105.196.197.123:9092", "hello-kafka");
}
private void OnTriggerExit(Collider other)
{//hand layer can only interact with tool layer
b_IstoolInRange = false;
toolInRange = null;
}
public override void Randomize()
{
int arraylength = -1;
Random rand = new Random();
int strlength;
byte[] strbuf, myByte;
//info
strlength = rand.Next(100) + 1;
strbuf = new byte[strlength];
rand.NextBytes(strbuf); //fill the whole buffer with random bytes
for (int __x__ = 0; __x__ < strlength; __x__++)
{
if (strbuf[__x__] == 0) //replace null chars with non-null random ones
{
strbuf[__x__] = (byte)(rand.Next(254) + 1);
}
}
strbuf[strlength - 1] = 0; //null terminate
info = Encoding.ASCII.GetString(strbuf);
//collision1_name
strlength = rand.Next(100) + 1;
strbuf = new byte[strlength];
rand.NextBytes(strbuf); //fill the whole buffer with random bytes
for (int __x__ = 0; __x__ < strlength; __x__++)
{
if (strbuf[__x__] == 0) //replace null chars with non-null random ones
{
strbuf[__x__] = (byte)(rand.Next(254) + 1);
}
}
strbuf[strlength - 1] = 0; //null terminate
collision1_name = Encoding.ASCII.GetString(strbuf);
//collision2_name
strlength = rand.Next(100) + 1;
strbuf = new byte[strlength];
rand.NextBytes(strbuf); //fill the whole buffer with random bytes
for (int __x__ = 0; __x__ < strlength; __x__++)
{
if (strbuf[__x__] == 0) //replace null chars with non-null random ones
{
strbuf[__x__] = (byte)(rand.Next(254) + 1);
}
}
strbuf[strlength - 1] = 0; //null terminate
collision2_name = Encoding.ASCII.GetString(strbuf);
//wrenches
arraylength = rand.Next(10);
if (wrenches == null)
{
wrenches = new Wrench[arraylength];
}
else
{
Array.Resize(ref wrenches, arraylength);
}
for (int i = 0; i < wrenches.Length; i++)
{
//wrenches[i]
wrenches[i] = new Wrench();
wrenches[i].Randomize();
}
//total_wrench
total_wrench = new Wrench();
total_wrench.Randomize();
//contact_positions
arraylength = rand.Next(10);
if (contact_positions == null)
{
contact_positions = new Vector3[arraylength];
}
else
{
Array.Resize(ref contact_positions, arraylength);
}
for (int i = 0; i < contact_positions.Length; i++)
{
//contact_positions[i]
contact_positions[i] = new Vector3();
contact_positions[i].Randomize();
}
//contact_normals
arraylength = rand.Next(10);
if (contact_normals == null)
{
contact_normals = new Vector3[arraylength];
}
else
{
Array.Resize(ref contact_normals, arraylength);
}
for (int i = 0; i < contact_normals.Length; i++)
{
//contact_normals[i]
contact_normals[i] = new Vector3();
contact_normals[i].Randomize();
}
//depths
arraylength = rand.Next(10);
if (depths == null)
{
depths = new double[arraylength];
}
else
{
Array.Resize(ref depths, arraylength);
}
for (int i = 0; i < depths.Length; i++)
{
//depths[i]
depths[i] = (rand.Next() + rand.NextDouble());
}
}
private void OnTriggerEnter(Collider other)
{//hand layer can only interact with tool layer
b_IstoolInRange = true;
toolInRange = other.GetComponent <Wrench>();
}
public override void Deserialize(byte[] SERIALIZEDSTUFF, ref int currentIndex)
{
int arraylength = -1;
bool hasmetacomponents = false;
object __thing;
int piecesize = 0;
byte[] thischunk, scratch1, scratch2;
IntPtr h;
//info
info = "";
piecesize = BitConverter.ToInt32(SERIALIZEDSTUFF, currentIndex);
currentIndex += 4;
info = Encoding.ASCII.GetString(SERIALIZEDSTUFF, currentIndex, piecesize);
currentIndex += piecesize;
//collision1_name
collision1_name = "";
piecesize = BitConverter.ToInt32(SERIALIZEDSTUFF, currentIndex);
currentIndex += 4;
collision1_name = Encoding.ASCII.GetString(SERIALIZEDSTUFF, currentIndex, piecesize);
currentIndex += piecesize;
//collision2_name
collision2_name = "";
piecesize = BitConverter.ToInt32(SERIALIZEDSTUFF, currentIndex);
currentIndex += 4;
collision2_name = Encoding.ASCII.GetString(SERIALIZEDSTUFF, currentIndex, piecesize);
currentIndex += piecesize;
//wrenches
hasmetacomponents |= true;
arraylength = BitConverter.ToInt32(SERIALIZEDSTUFF, currentIndex);
currentIndex += Marshal.SizeOf(typeof(System.Int32));
if (wrenches == null)
{
wrenches = new Wrench[arraylength];
}
else
{
Array.Resize(ref wrenches, arraylength);
}
for (int i = 0; i < wrenches.Length; i++)
{
//wrenches[i]
wrenches[i] = new Wrench(SERIALIZEDSTUFF, ref currentIndex);
}
//total_wrench
total_wrench = new Wrench(SERIALIZEDSTUFF, ref currentIndex);
//contact_positions
hasmetacomponents |= true;
arraylength = BitConverter.ToInt32(SERIALIZEDSTUFF, currentIndex);
currentIndex += Marshal.SizeOf(typeof(System.Int32));
if (contact_positions == null)
{
contact_positions = new Vector3[arraylength];
}
else
{
Array.Resize(ref contact_positions, arraylength);
}
for (int i = 0; i < contact_positions.Length; i++)
{
//contact_positions[i]
contact_positions[i] = new Vector3(SERIALIZEDSTUFF, ref currentIndex);
}
//contact_normals
hasmetacomponents |= true;
arraylength = BitConverter.ToInt32(SERIALIZEDSTUFF, currentIndex);
currentIndex += Marshal.SizeOf(typeof(System.Int32));
if (contact_normals == null)
{
contact_normals = new Vector3[arraylength];
}
else
{
Array.Resize(ref contact_normals, arraylength);
}
for (int i = 0; i < contact_normals.Length; i++)
{
//contact_normals[i]
contact_normals[i] = new Vector3(SERIALIZEDSTUFF, ref currentIndex);
}
//depths
hasmetacomponents |= false;
arraylength = BitConverter.ToInt32(SERIALIZEDSTUFF, currentIndex);
currentIndex += Marshal.SizeOf(typeof(System.Int32));
if (depths == null)
{
depths = new double[arraylength];
}
else
{
Array.Resize(ref depths, arraylength);
}
for (int i = 0; i < depths.Length; i++)
{
//depths[i]
piecesize = Marshal.SizeOf(typeof(double));
h = IntPtr.Zero;
if (SERIALIZEDSTUFF.Length - currentIndex != 0)
{
h = Marshal.AllocHGlobal(piecesize);
Marshal.Copy(SERIALIZEDSTUFF, currentIndex, h, piecesize);
}
if (h == IntPtr.Zero)
{
throw new Exception("Alloc failed");
}
depths[i] = (double)Marshal.PtrToStructure(h, typeof(double));
Marshal.FreeHGlobal(h);
currentIndex += piecesize;
}
}
public override void Deserialize(byte[] SERIALIZEDSTUFF, ref int currentIndex)
{
int arraylength = -1;
bool hasmetacomponents = false;
object __thing;
int piecesize = 0;
byte[] thischunk, scratch1, scratch2;
IntPtr h;
//header
header = new Header(SERIALIZEDSTUFF, ref currentIndex);
//name
hasmetacomponents |= false;
arraylength = BitConverter.ToInt32(SERIALIZEDSTUFF, currentIndex);
currentIndex += Marshal.SizeOf(typeof(System.Int32));
if (name == null)
{
name = new string[arraylength];
}
else
{
Array.Resize(ref name, arraylength);
}
for (int i = 0; i < name.Length; i++)
{
//name[i]
name[i] = "";
piecesize = BitConverter.ToInt32(SERIALIZEDSTUFF, currentIndex);
currentIndex += 4;
name[i] = Encoding.ASCII.GetString(SERIALIZEDSTUFF, currentIndex, piecesize);
currentIndex += piecesize;
}
//pose
hasmetacomponents |= true;
arraylength = BitConverter.ToInt32(SERIALIZEDSTUFF, currentIndex);
currentIndex += Marshal.SizeOf(typeof(System.Int32));
if (pose == null)
{
pose = new Pose[arraylength];
}
else
{
Array.Resize(ref pose, arraylength);
}
for (int i = 0; i < pose.Length; i++)
{
//pose[i]
pose[i] = new Pose(SERIALIZEDSTUFF, ref currentIndex);
}
//twist
hasmetacomponents |= true;
arraylength = BitConverter.ToInt32(SERIALIZEDSTUFF, currentIndex);
currentIndex += Marshal.SizeOf(typeof(System.Int32));
if (twist == null)
{
twist = new Twist[arraylength];
}
else
{
Array.Resize(ref twist, arraylength);
}
for (int i = 0; i < twist.Length; i++)
{
//twist[i]
twist[i] = new Twist(SERIALIZEDSTUFF, ref currentIndex);
}
//wrench
hasmetacomponents |= true;
arraylength = BitConverter.ToInt32(SERIALIZEDSTUFF, currentIndex);
currentIndex += Marshal.SizeOf(typeof(System.Int32));
if (wrench == null)
{
wrench = new Wrench[arraylength];
}
else
{
Array.Resize(ref wrench, arraylength);
}
for (int i = 0; i < wrench.Length; i++)
{
//wrench[i]
wrench[i] = new Wrench(SERIALIZEDSTUFF, ref currentIndex);
}
}
public override void Randomize()
{
int arraylength = -1;
Random rand = new Random();
int strlength;
byte[] strbuf, myByte;
//header
header = new Header();
header.Randomize();
//name
arraylength = rand.Next(10);
if (name == null)
{
name = new string[arraylength];
}
else
{
Array.Resize(ref name, arraylength);
}
for (int i = 0; i < name.Length; i++)
{
//name[i]
strlength = rand.Next(100) + 1;
strbuf = new byte[strlength];
rand.NextBytes(strbuf); //fill the whole buffer with random bytes
for (int __x__ = 0; __x__ < strlength; __x__++)
{
if (strbuf[__x__] == 0) //replace null chars with non-null random ones
{
strbuf[__x__] = (byte)(rand.Next(254) + 1);
}
}
strbuf[strlength - 1] = 0; //null terminate
name[i] = Encoding.ASCII.GetString(strbuf);
}
//pose
arraylength = rand.Next(10);
if (pose == null)
{
pose = new Pose[arraylength];
}
else
{
Array.Resize(ref pose, arraylength);
}
for (int i = 0; i < pose.Length; i++)
{
//pose[i]
pose[i] = new Pose();
pose[i].Randomize();
}
//twist
arraylength = rand.Next(10);
if (twist == null)
{
twist = new Twist[arraylength];
}
else
{
Array.Resize(ref twist, arraylength);
}
for (int i = 0; i < twist.Length; i++)
{
//twist[i]
twist[i] = new Twist();
twist[i].Randomize();
}
//wrench
arraylength = rand.Next(10);
if (wrench == null)
{
wrench = new Wrench[arraylength];
}
else
{
Array.Resize(ref wrench, arraylength);
}
for (int i = 0; i < wrench.Length; i++)
{
//wrench[i]
wrench[i] = new Wrench();
wrench[i].Randomize();
}
}
public override byte[] Serialize(bool partofsomethingelse)
{
int currentIndex = 0, length = 0;
bool hasmetacomponents = false;
byte[] thischunk, scratch1, scratch2;
List <byte[]> pieces = new List <byte[]>();
GCHandle h;
//header
if (header == null)
{
header = new Header();
}
pieces.Add(header.Serialize(true));
//name
hasmetacomponents |= false;
if (name == null)
{
name = new string[0];
}
pieces.Add(BitConverter.GetBytes(name.Length));
for (int i = 0; i < name.Length; i++)
{
//name[i]
if (name[i] == null)
{
name[i] = "";
}
scratch1 = Encoding.ASCII.GetBytes((string)name[i]);
thischunk = new byte[scratch1.Length + 4];
scratch2 = BitConverter.GetBytes(scratch1.Length);
Array.Copy(scratch1, 0, thischunk, 4, scratch1.Length);
Array.Copy(scratch2, thischunk, 4);
pieces.Add(thischunk);
}
//pose
hasmetacomponents |= true;
if (pose == null)
{
pose = new Pose[0];
}
pieces.Add(BitConverter.GetBytes(pose.Length));
for (int i = 0; i < pose.Length; i++)
{
//pose[i]
if (pose[i] == null)
{
pose[i] = new Pose();
}
pieces.Add(pose[i].Serialize(true));
}
//twist
hasmetacomponents |= true;
if (twist == null)
{
twist = new Twist[0];
}
pieces.Add(BitConverter.GetBytes(twist.Length));
for (int i = 0; i < twist.Length; i++)
{
//twist[i]
if (twist[i] == null)
{
twist[i] = new Twist();
}
pieces.Add(twist[i].Serialize(true));
}
//wrench
hasmetacomponents |= true;
if (wrench == null)
{
wrench = new Wrench[0];
}
pieces.Add(BitConverter.GetBytes(wrench.Length));
for (int i = 0; i < wrench.Length; i++)
{
//wrench[i]
if (wrench[i] == null)
{
wrench[i] = new Wrench();
}
pieces.Add(wrench[i].Serialize(true));
}
//combine every array in pieces into one array and return it
int __a_b__f = pieces.Sum((__a_b__c) => __a_b__c.Length);
int __a_b__e = 0;
byte[] __a_b__d = new byte[__a_b__f];
foreach (var __p__ in pieces)
{
Array.Copy(__p__, 0, __a_b__d, __a_b__e, __p__.Length);
__a_b__e += __p__.Length;
}
return(__a_b__d);
}
private static ITile TransposeTile(ITile tile)
{
if (tile is Pit)
return new Pit();
var originalFloorTile = (Floor) tile;
Floor floorTile;
if (tile is ExpressConveyer)
floorTile = new ExpressConveyer();
else if (tile is Conveyer)
floorTile = new Conveyer();
else if (tile is WrenchHammer)
floorTile = new WrenchHammer();
else if (tile is Wrench)
floorTile = new Wrench();
else if (tile is Gear)
floorTile = new Gear((tile as Gear).Direction);
else
floorTile = new Floor();
foreach (var edge in originalFloorTile.Edges)
{
IEdge newEdge;
if (edge.Item2 is WallLaserEdge)
newEdge = new WallLaserEdge((edge.Item2 as WallLaserEdge).Lasers);
else if (edge.Item2 is WallPusherEdge)
newEdge = new WallPusherEdge((edge.Item2 as WallPusherEdge).Registers);
else
newEdge = new WallEdge();
floorTile.PutEdge(Utilities.GetOppositeOrientation(edge.Item1), newEdge);
}
var originalConveyer = originalFloorTile as Conveyer;
if (originalConveyer != null)
{
var entrances = originalConveyer.Entrances.Select(Utilities.GetOppositeOrientation).ToList();
var newConveyer = (Conveyer) floorTile;
newConveyer.Entrances = entrances;
newConveyer.Exit = Utilities.GetOppositeOrientation(originalConveyer.Exit);
}
return floorTile;
}
ActionScene(Game game, Texture2D theTexture, Texture2D backgroundTexture, SpriteFont font)
: base(game)
{
_audio = (AudioLibrary)Game.Services.GetService(typeof(AudioLibrary));
_background = new ImageComponent(game, backgroundTexture, ImageComponent.DrawMode.Stretch);
Components.Add(_background);
_actionTexture = theTexture;
_spriteBatch = (SpriteBatch) Game.Services.GetService(typeof (SpriteBatch));
_meteors = new MeteorsManager(Game, ref _actionTexture);
Components.Add(_meteors);
_scoreFont = font;
_scorePlayer1 = new Score(game, font, _player1FontColor) {Position = new Vector2(10, 10)};
Components.Add(_scorePlayer1);
_rumblePad = new SimpleRumblePad(game);
Components.Add(_rumblePad);
_powerSource = new PowerSource(game, ref _actionTexture);
_powerSource.Initialize();
Components.Add(_powerSource);
_wrench = new Wrench(game, game.Content.Load<Texture2D>("wrench"));
_wrench.Initialize();
Components.Add(_wrench);
#if DEBUG
_positionDebugText=new TextComponent(game,_scoreFont,new Vector2(),Color.Red);
Components.Add(_positionDebugText);
#endif
}