/// <summary>
/// Se llama cada vez que hay que refrescar la pantalla.
/// Escribir aquí todo el código referido al renderizado.
/// </summary>
protected override void Draw(GameTime gameTime)
{
GraphicsDevice.SetRenderTarget(RenderTarget);
GraphicsDevice.Clear(Color.CornflowerBlue);
SphereModel.Draw(LavaSphereWorld, Camera.View, Camera.Projection, LavaTexture);
SphereModel.Draw(WaterSphereWorld, Camera.View, Camera.Projection, WaterTexture);
SphereModel.Draw(RockSphereWorld, Camera.View, Camera.Projection, RockTexture);
FloorQuad.Draw(FloorWorld, Camera.View, Camera.Projection, FloorTexture);
DrawRobot();
if (LightingEnabled)
{
LightCube.Draw(Matrix.CreateTranslation(LightOnePosition), Camera.View, Camera.Projection, Color.Red);
LightCube.Draw(Matrix.CreateTranslation(LightTwoPosition), Camera.View, Camera.Projection, Color.Blue);
}
GraphicsDevice.SetRenderTarget(null);
GraphicsDevice.Clear(Color.Black);
Effect.CurrentTechnique = Effect.Techniques["PostProcessing"];
Effect.Parameters["ModelTexture"].SetValue(RenderTarget);
FullScreenQuad.Draw(Effect);
base.Draw(gameTime);
}
/// <summary>
/// Libero los recursos que se cargaron en el juego.
/// </summary>
protected override void UnloadContent()
{
// Libero los recursos.
Content.Unload();
FloorQuad.Dispose();
SphereModel.Dispose();
FullScreenQuad.Dispose();
if (LightingEnabled)
{
LightCube.Dispose();
}
base.UnloadContent();
}
/// <summary>
/// Instruct the robot to pick up his LightCube.
/// <para>While picking up the cube, Vector will use path planning.</para><para>Note that actions that use the wheels cannot be performed at the same time, otherwise you may see a TRACKS_LOCKED error.</para>
/// </summary>
/// <remarks>Requires behavior control; see <see cref="ControlComponent.RequestControl(int)"/>.</remarks>
/// <param name="lightCube">The light cube.</param>
/// <param name="usePreDockPose">Whether or not to try to immediately pick up an object or first position the robot next to the object.</param>
/// <param name="numRetries">Number of times to reattempt action in case of a failure.</param>
/// <returns>A task that represents the asynchronous operation; the task result contains the result from the robot.</returns>
/// <exception cref="System.ArgumentException">Light cube object must be provided. - lightCube</exception>
public async Task <ActionResult> PickupObject(LightCube lightCube, bool usePreDockPose = true, int numRetries = 0)
{
if (lightCube == null)
{
throw new ArgumentException("Light cube object must be provided.", nameof(lightCube));
}
var response = await RunAction((client, cancellationToken, idTag) => client.PickupObjectAsync(new PickupObjectRequest()
{
IdTag = idTag,
UsePreDockPose = usePreDockPose,
ObjectId = lightCube.ObjectId,
NumRetries = numRetries
}, cancellationToken: cancellationToken)).ConfigureAwait(false);
return(new ActionResult(response.Status.Code, response.Result.Code));
}
/// <summary>
/// Tells Vector to dock with a light cube, optionally using a given approach angle and distance.
/// <para>While docking with the cube, Vector will use path planning.</para>
/// </summary>
/// <remarks>Requires behavior control; see <see cref="ControlComponent.RequestControl(int)"/>.</remarks>
/// <param name="lightCube">The light cube.</param>
/// <param name="approachAngle">The approach angle in radians.</param>
/// <param name="alignment">Which part of the robot to align with the object.</param>
/// <param name="distanceFromMarker">The distance from marker in mm (0 to dock).</param>
/// <param name="numRetries">Number of times to re-attempt action in case of a failure.</param>
/// <returns>A task that represents the asynchronous operation; the task result contains the result from the robot.</returns>
public async Task <ActionResult> DockWithCube(LightCube lightCube, float?approachAngle = null, AlignmentType alignment = AlignmentType.LiftPlate, float distanceFromMarker = 0f, int numRetries = 0)
{
var response = await RunAction((client, cancellationToken, idTag) => client.DockWithCubeAsync(new DockWithCubeRequest()
{
IdTag = idTag,
AlignmentType = (ExternalInterface.AlignmentType)alignment,
MotionProf = MotionProfile.ToPathMotionProfile(),
ObjectId = lightCube.ObjectId,
ApproachAngleRad = approachAngle ?? 0,
UseApproachAngle = approachAngle.HasValue,
UsePreDockPose = approachAngle.HasValue,
DistanceFromMarkerMm = distanceFromMarker,
NumRetries = numRetries
}, cancellationToken: cancellationToken)).ConfigureAwait(false);
return(new ActionResult(response.Status.Code, response.Result.Code));
}