/// <summary>
/// Allows the game to perform any initialization it needs to before starting to run.
/// This is where it can query for any required services and load any non-graphic
/// related content. Calling base.Initialize will enumerate through any components
/// and initialize them as well.
/// </summary>
protected override void Initialize()
{
spriteBatch = new SpriteBatch(GraphicsDevice);
Services.AddService(typeof(SpriteBatch), spriteBatch);
player = new Player(this);
var commands = new IConsoleCommand[] { new MovePlayerCommand(player), new RotatePlayerDegreesCommand(player) };
console = new GameConsole(this, spriteBatch, commands, new GameConsoleOptions
{
Font = Content.Load<SpriteFont>("GameFont"),
FontColor = Color.LawnGreen,
Prompt = "~>",
PromptColor = Color.Crimson,
CursorColor = Color.OrangeRed,
BackgroundColor = new Color(Color.Black,150),
PastCommandOutputColor = Color.Aqua,
BufferColor = Color.Gold
});
console.AddCommand("rotRad", a =>
{
var angle = float.Parse(a[0]);
player.Angle = angle;
return String.Format("Rotated the player to {0} radians", angle);
});
base.Initialize();
}
protected override void Initialize()
{
graphics.PreferMultiSampling = true;
graphics.PreferredBackBufferWidth = WINDOWED_WIDTH;
graphics.PreferredBackBufferHeight = WINDOWED_HEIGHT;
graphics.IsFullScreen = false;
graphics.ApplyChanges();
spriteBatch = new SpriteBatch(GraphicsDevice);
console = new GameConsole(this, spriteBatch, new GameConsoleOptions()
{
OpenOnWrite = false,
Prompt = ">",
Height = 500,
ToggleKey = Keys.Escape
});
console.AddCommand("load",
args =>
{
missionFile = "../../../../../missions/" + args[0] + ".json";
ClearWorld();
InitSim(false);
return "Mission loaded.";
}, "Load a mission file");
console.AddCommand("experiment",
args =>
{
if (args[0] == "random")
new SmootherExperiment(this, expFile, 100);
else if (args[0] == "parking")
new ParkingExperiment(this, world, expFile);
else
return "Experiment not found.";
return "Experiment started.";
}, "Run an experiment");
console.AddCommand("antialias",
args =>
{
graphics.PreferMultiSampling = !graphics.PreferMultiSampling;
graphics.ApplyChanges();
return "Antialias " + (graphics.PreferMultiSampling ? "on" : "off");
}, "Toggles antialias");
console.AddCommand("debug",
args =>
{
showDebugInfo = !showDebugInfo;
return "Debug " + (showDebugInfo ? "on" : "off");
}, "Toggles the debug info");
console.AddCommand("dashboard",
args =>
{
showDashboard = !showDashboard;
return "Dashboard " + (showDashboard ? "on" : "off");
}, "Toggles the dashboard");
console.AddCommand("param",
args =>
{
if (args.Length < 1) return "";
switch (args[0].ToLower())
{
case "smoother":
return Smoother.HandleParamCommand(args);
default:
return "";
}
}, "Prints or updates parameters");
console.AddCommand("smooth",
args =>
{
if (pathSmoothDone)
{
bg = new Thread(() =>
{
DateTime now = DateTime.Now;
smoothedPath = Smoother.Smooth(astar.Path, grid);
int numUnsafe = Smoother.UnsafeIndices != null ? Smoother.UnsafeIndices.Count : 0;
console.WriteLine("Smoothing Time: " + Math.Round((DateTime.Now - now).TotalMilliseconds) + " ms (" + Smoother.NumIterations + " iterations, " + Smoother.Change + "m, " + numUnsafe + " unsafe points)");
controller = new StanleyFSMController(smoothedPath, goalPose);
});
bg.IsBackground = true;
bg.Priority = ThreadPriority.Lowest;
bg.Start();
}
return "";
}, "Smooths the path using the current parameters");
console.AddCommand("smoothing",
args =>
{
smoothing = !smoothing;
return "Smoothing " + (smoothing ? "on" : "off");
}, "Toggles smoothing"
);
dashboard = new Dashboard(this);
world = new World(Vector2.Zero);
car = new Car(world, new Pose());
camera = new Camera(MathHelper.PiOver4, GraphicsDevice.Viewport.AspectRatio, 0.1f, 1000f);
camera.Position = new Vector3(75f, 75f, 180f);
base.Initialize();
}