public void StartClick(object sender, RoutedEventArgs e)
{
RobotVacuum vacuum = RobotVacuum.Vacuum;
AlgorithmFactory factory = new AlgorithmFactory();
vacuum.Algorithm = factory.GetAlgorithm(((ComboBoxItem)this.cbxAlgorithms.SelectedItem).Name);
this.Close();
if (rdbSimulation.IsChecked == true)
{
commence(true);
}
else
{
commence(false);
}
}
/// <summary>
/// This method will check for collsions.
/// </summary>
/// <returns></returns>
public bool CollisionOccured(RobotVacuum vacuum)
{
CollidedFurnitureObject = null;
bool collision = false;
NorthSouthWallCollision = false;
SideWallCollision = false;
// int[,] bounds = new int[1640, 840];
/* Point[] furnBounds = new Point[4];
* Point[] vacBounds = new Point[4];
*
*
* vacBounds[0] = new Point(vacuum.X , vacuum.Y);
* vacBounds[1] = new Point(vacuum.X + vacuum.Width , vacuum.Y);
* vacBounds[2] = new Point(vacuum.X, vacuum.Y + vacuum.Y);
* vacBounds[3] = new Point(vacuum.X + vacuum.Width, vacuum.Y + vacuum.Width);
*
* d.PointF[] dpoint= new d.PointF[4];
* int i = 0;
* foreach(Point p in vacBounds)
* {
* dpoint[i++] = new d.PointF((float)p.X, (float)p.Y);
* }
*
* GraphicsPath path = new GraphicsPath();
* path.AddPolygon(dpoint);
* d.Region region = new d.Region(path);
*
*/
lock (this)
{
Point robotPoint = new Point(vacuum.X, vacuum.Y);
foreach (IFurniture furn in furniture)
{
Rect furnitureBounds = new Rect(furn.X, furn.Y, furn.Width, furn.Length);
Rect vacuumBounds = new Rect(vacuum.X, vacuum.Y, vacuum.Width, vacuum.Width);
if ((furnitureBounds.IntersectsWith(vacuumBounds)) && !furn.CanPassUnder())// || (furnitureBounds.Contains(robotPoint) || furnitureBounds.Contains(new Point(robotPoint.X + vacuum.Width, robotPoint.Y)) || furnitureBounds.Contains(new Point(robotPoint.X, vacuum.Y + vacuum.Height)) || furnitureBounds.Contains(new Point(robotPoint.X + vacuum.Width, vacuum.Y + vacuum.Height))) && !furn.CanPassUnder())
{
collision = true;
CollidedFurnitureObject = furn;
}
if ((vacuum.X >= furn.X - furn.Width && vacuum.X <= furn.X + furn.Width) && (vacuum.Y >= furn.Y - furn.Length && vacuum.Y <= furn.Y + furn.Length) && !furn.CanPassUnder())
{
collision = true;
CollidedFurnitureObject = furn;
}
furnitureBounds.Intersect(vacuumBounds);
if (!furnitureBounds.IsEmpty && !furn.CanPassUnder())
{
CollidedFurnitureObject = furn;
return(true);
}
}
/*
* if(!intersect.IsEmpty)
* {
* collision = true;
* }*/
if (vacuum.X >= 820)
{
collision = true;
SideWallCollision = true;
}
if (vacuum.X <= -820)
{
collision = true;
SideWallCollision = true;
}
if (vacuum.Y >= 400)
{
collision = true;
NorthSouthWallCollision = true;
}
if (vacuum.Y <= -400)
{
NorthSouthWallCollision = true;
return(true);
}
//return false;
}
return(collision);
}
