public bool Run(List <Track> tracks, List <int> chunks, ref bool tracksStarted, ref bool tracksFinshed, ref Rule ruleBroke)
{
bool buildPass = true;
if (tracks.Last().Orientation.Pitch != 90)
{
buildPass = BuildToPitch.Run(tracks, chunks, ref tracksStarted, ref tracksFinshed, ref ruleBroke, 90);
}
else
{
CommandHandeler commandHandeler = new CommandHandeler();
List <Command> commands = new List <Command>();
commands.Add(new Command(true, TrackType.Stright, new Orientation(0, 0, 0)));
for (int i = 0; i < 3; i++)
{
buildPass = commandHandeler.Run(commands, tracks, chunks, tracksStarted, tracksFinshed, ref ruleBroke);
if (buildPass == false)
{
break;
}
}
}
return(buildPass);
}
static bool GoToX(List <Track> tracks, List <int> chunks, ref bool tracksStarted, ref bool tracksFinshed, ref Rule ruleBroke, float XPosition, float withIn, TrackType type, float yawGoal)
{
CommandHandeler commandHandeler = new CommandHandeler();
List <Command> commands = new List <Command>();
bool buildPass = true;
bool firstStrightTrack = true;
float lastX = 0;
float lastDiffernce = 0;
buildPass = BuildToPitch.Run(tracks, chunks, ref tracksStarted, ref tracksFinshed, ref ruleBroke, 0);
if (!buildPass)
{
return(false);
}
while (!((tracks.Last().Position.X < XPosition + (withIn / 2) && tracks.Last().Position.X > XPosition - (withIn / 2))) && buildPass)
{
if (tracks.Last().Orientation.Yaw == yawGoal)
{
commands.Clear();
commands.Add(new Command(true, TrackType.Stright, new Orientation(0, 0, 0)));
buildPass = commandHandeler.Run(commands, tracks, chunks, tracksStarted, tracksFinshed, ref ruleBroke);
float differnce = Math.Abs(tracks.Last().Position.X - lastX);
if (!firstStrightTrack)
{
//This Means You Passed The Goal Point, This could have been done by turning, Or After the Fact. But You Are now going the wrong way.
if (differnce > lastDiffernce)
{
return(false);
}
}
else
{
firstStrightTrack = true;
}
lastX = tracks.Last().Position.X;
lastDiffernce = differnce;
}
else
{
commands.Clear();
commands.Add(new Command(true, type, new Orientation(0, 0, 0)));
buildPass = commandHandeler.Run(commands, tracks, chunks, tracksStarted, tracksFinshed, ref ruleBroke);
}
}
if (tracks.Last().Position.X < XPosition + (withIn / 2) && tracks.Last().Position.X > XPosition - (withIn / 2))
{
return(true);
}
else
{
return(false);
}
}
static bool GoToXY(List <Track> tracks, List <int> chunks, ref bool tracksStarted, ref bool tracksFinshed, ref Rule ruleBroke, float XPosition, float YPosition, float withIn)
{
CommandHandeler commandHandeler = new CommandHandeler();
List <Command> commands = new List <Command>();
bool buildPass = true;
bool firstStrightTrack = true;
float last = 0;
float lastDiffernce = 0;
float yawGoal = 0;
buildPass = BuildToPitch.Run(tracks, chunks, ref tracksStarted, ref tracksFinshed, ref ruleBroke, 0);
if (!buildPass)
{
return(false);
}
while (!((tracks.Last().Position.X < XPosition + (withIn / 2) && tracks.Last().Position.X > XPosition - (withIn / 2)) && (tracks.Last().Position.Y < YPosition + (withIn / 2) && tracks.Last().Position.Y > YPosition - (withIn / 2))) && buildPass)
{
float x = XPosition - tracks.Last().Position.X;
float y = YPosition - tracks.Last().Position.Y;
//Determine Best Yaw
yawGoal = Convert.ToSingle(Math.Atan2((double)y, (double)x) * 180 / Math.PI);
if (yawGoal < 0)
{
yawGoal = yawGoal + 360;
}
//Get YawGoal To Nearest Angle Game Can Handle
int totalAdjustments = (int)(yawGoal / Globals.STANDARD_ANGLE_CHANGE);
if ((yawGoal % 15) > Globals.STANDARD_ANGLE_CHANGE / 2)
{
totalAdjustments++;
}
yawGoal = totalAdjustments * Globals.STANDARD_ANGLE_CHANGE;
if (tracks.Last().Orientation.Yaw == yawGoal)
{
commands.Clear();
commands.Add(new Command(true, TrackType.Stright, new Orientation(0, 0, 0)));
buildPass = commandHandeler.Run(commands, tracks, chunks, tracksStarted, tracksFinshed, ref ruleBroke);
float xDistance = tracks.Last().Position.X - XPosition;
float YDistance = tracks.Last().Position.Y - YPosition;
float differnce = Math.Abs(xDistance + xDistance);
if (!firstStrightTrack)
{
//This Means You Passed The Goal Point, This could have been done by turning, Or After the Fact. But You Are now going the wrong way.
if (differnce > lastDiffernce)
{
return(false);
}
}
else
{
firstStrightTrack = true;
}
last = tracks.Last().Position.X + tracks.Last().Position.Y;
lastDiffernce = differnce;
}
else
{
TrackType type = new TrackType();
if (tracks.Last().Orientation.Yaw - yawGoal > 0)
{
if (Math.Abs(tracks.Last().Orientation.Yaw - yawGoal) < 180)
{
type = TrackType.Right;
}
else
{
type = TrackType.Left;
}
}
else
{
if (Math.Abs(yawGoal - tracks.Last().Orientation.Yaw) < 180)
{
type = TrackType.Left;
}
else
{
type = TrackType.Right;
}
}
commands.Clear();
commands.Add(new Command(true, type, new Orientation(0, 0, 0)));
buildPass = commandHandeler.Run(commands, tracks, chunks, tracksStarted, tracksFinshed, ref ruleBroke);
}
}
if (tracks.Last().Position.X < XPosition + (withIn / 2) && tracks.Last().Position.X > XPosition - (withIn / 2) && (tracks.Last().Position.Y < YPosition + (withIn / 2) && tracks.Last().Position.Y > YPosition - (withIn / 2)))
{
return(true);
}
else
{
return(false);
}
}