public static void Drive(Pose start, ReedsSheppActionSet actions, float unit)
{
Pose current = new Pose(start);
foreach (ReedsSheppAction action in actions.Actions)
{
switch (action.Steer)
{
case Steer.Straight:
current = Straight(current, action.Gear, action.Length, unit);
break;
case Steer.Left:
current = TurnLeft(current, action.Gear, action.Length, unit);
break;
case Steer.Right:
current = TurnRight(current, action.Gear, action.Length, unit);
break;
}
if (Debug != null)
{
current.DrawPose(Debug, 2, Color.LightBlue);
}
}
}
protected override void Draw(GameTime gameTime)
{
GraphicsDevice.Clear(backgroundLight ? LIGHT : DARK);
Matrix p = camera.Projection;
Matrix v = camera.View;
if (cameraView == 2)
{
float orientation = controller != null && controller.InReverse ? car.Pose.Orientation + MathHelper.Pi : car.Pose.Orientation;
Vector2 position = Car.GetCenterPosition(car.Pose);
Vector2 headingVector = new Vector2((float)Math.Cos(orientation), (float)Math.Sin(orientation));
float offset = 14f;
float height = 10f;
v = Matrix.CreateLookAt(new Vector3(position + -offset * headingVector, height), new Vector3(position + offset * headingVector, 0f), Vector3.UnitZ);
}
else if (cameraView == 3)
{
float or = car.Pose.Orientation + MathHelper.ToRadians(120f);
Vector2 headingVector = new Vector2((float)Math.Cos(or), (float)Math.Sin(or));
v = Matrix.CreateLookAt(new Vector3(car.Pose.Position + -10f * headingVector, 5f), new Vector3(Car.GetCenterPosition(car.Pose), 0f), Vector3.UnitZ);
}
else if (cameraView == 4)
{
float or = goalPose.Orientation;
Vector2 headingVector = new Vector2((float)Math.Cos(or), (float)Math.Sin(or));
v = Matrix.CreateLookAt(new Vector3(goalPose.Position + 10f * headingVector, 20f), new Vector3(Car.GetCenterPosition(car.Pose), 0f), Vector3.UnitZ);
}
else if (cameraView == 5)
{
v = Matrix.CreateLookAt(new Vector3(Car.GetCenterPosition(car.Pose), 20f), new Vector3(Car.GetCenterPosition(car.Pose), 0f), Vector3.UnitY);
if (rotateCar)
{
v *= Matrix.CreateRotationZ(-car.Body.Rotation + MathHelper.PiOver2);
}
}
if (gridDone && (drawGrid || drawVoro || drawHeur))
{
basicEffect.World = Matrix.Identity;
basicEffect.View = v;
basicEffect.Projection = p;
spriteBatch.Begin(0, null, SamplerState.PointClamp, DepthStencilState.DepthRead, RasterizerState.CullNone, basicEffect);
if (drawHeur)
{
HybridAStar.Draw(spriteBatch);
}
else
{
grid.Draw(spriteBatch, drawVoro);
}
spriteBatch.End();
}
debug.BeginCustomDraw(ref p, ref v);
debug.DrawSolidCircle(Car.GetFrontAxlePosition(car.Pose), 0.2f, Color.Green);
if ((pathSearching && watchSearch || pathSearchingDone && drawSearch) && HybridAStar.Expanded != null && HybridAStar.Expanded.Count > 0)
{
LinkedList <HybridAStar.Node> expanded = new LinkedList <HybridAStar.Node>();
lock (HybridAStar.Expanded)
{
expanded.AddAll(HybridAStar.Expanded);
}
float pathLength = expanded.Last.f;
foreach (HybridAStar.Node n in expanded)
{
if (pathDone && n.rsIndex >= 0)
{
for (int i = n.rsIndex; i < poses.Count - 1; i++)
{
debug.DrawSegment(poses[i].Position, poses[i + 1].Position, Color.Purple, 0.02f);
}
}
else if (n.from != null)
{
Color color;
if (n.cell.rev == 0)
{
color = Color.Lerp(Color.Orange, Color.Green, n.g / pathLength);
}
else
{
color = Color.Lerp(Color.Blue, Color.Cyan, n.g / pathLength);
}
debug.DrawSegment(n.from.pose.Position, n.pose.Position, color, 0.02f);
}
}
}
if (pathDone)
{
if (drawPath)
{
for (int i = 0; i < poses.Count - 1; i++)
{
Color c = poses[i].Gear == Gear.Forward ? Color.Blue : Color.Red;
debug.DrawSegment(poses[i].Position, poses[i + 1].Position, c, 0.04f);
debug.DrawPoint(poses[i].Position, 0.1f, c * 0.5f);
}
}
}
if (pathSearchingDone && !pathSmoothDone && (drawSmoothedPath || drawController))
{
Smoother.Draw(debug);
}
if (pathSmoothDone)
{
if (drawFrontPath && controller.FrontPath != null)
{
int num = controller.FrontPath.Count;
for (int i = 0; i < num - 1; i++)
{
if (controller.FrontPath[i].Gear == Gear.Forward)
{
debug.DrawSegment(controller.FrontPath[i].Position, controller.FrontPath[i + 1].Position, Color.DarkOrange);
}
else
{
debug.DrawSegment(controller.ReverseFrontPath[i].Position, controller.ReverseFrontPath[i + 1].Position, Color.Cyan);
}
}
}
if (drawSmoothedPath)
{
for (int i = 0; i < smoothedPath.Count - 1; i++)
{
debug.DrawSegment(smoothedPath[i].Position, smoothedPath[i + 1].Position, smoothedPath[i].Gear == Gear.Forward ? Color.DarkGreen : Color.Red, 0.04f);
//if (Smoother.UnsafeIndices != null && Smoother.UnsafeIndices.Contains(i))
//debug.DrawCircle(smoothedPath[i].Position, 0.2f, Color.Orange);
}
}
if (drawController)
{
controller.Draw(debug);
}
}
if (drawStart)
{
startPose.DrawPose(debug, new Color(0f, 1f, 0f, 0.9f), 1.1f);
}
if (drawGoal)
{
goalPose.DrawPose(debug, new Color(1f, 0f, 0f, 0.9f), 1.1f);
}
if (drawCurrent)
{
if (pathSmoothDone && controller.State != StanleyFSMController.ControllerState.MissionComplete)
{
debug.DrawCircle(controller.ClosestPoint, 0.1f, controller.InReverse ? Color.Aqua : Color.Orange);
if (controller.InReverse)
{
debug.DrawCircle(controller.FakeFrontAxle, 0.2f, Color.Aqua);
}
}
car.Pose.DrawPose(debug, 0.2f, Color.Red);
}
debug.EndCustomDraw();
if (drawDebugData)
{
debug.RenderDebugData(ref p, ref v);
}
if (drawCar)
{
car.Draw(v, p);
}
if (showDebugInfo)
{
string info = String.Format("Speed: {0:0.0}", Math.Round(car.SpeedMPH, 1));
if (pathSmoothDone)
{
info += String.Format("\nGas: {0:0.00}", Math.Round(currentControls.Gas * 100f, 2));
info += String.Format("\nBrake: {0:0.00}", Math.Round(currentControls.Brake * 100f, 2));
info += String.Format("\nCTE: {0:0.0000}", Math.Round(controller.CrossTrackError, 4));
info += "\n" + controller.State.ToString();
info += "\n" + controller.DebugInfo;
}
spriteBatch.Begin();
spriteBatch.DrawString(font, info, new Vector2(8, 4), !backgroundLight ? LIGHT : DARK);
spriteBatch.End();
}
if (showDashboard)
{
dashboard.Draw(gameTime);
}
base.Draw(gameTime);
}
public static void Drive(Pose start, ReedsSheppActionSet actions, float unit)
{
Pose current = new Pose(start);
foreach (ReedsSheppAction action in actions.Actions)
{
switch (action.Steer)
{
case Steer.Straight:
current = Straight(current, action.Gear, action.Length, unit);
break;
case Steer.Left:
current = TurnLeft(current, action.Gear, action.Length, unit);
break;
case Steer.Right:
current = TurnRight(current, action.Gear, action.Length, unit);
break;
}
if (Debug != null)
current.DrawPose(Debug, 2, Color.LightBlue);
}
}
