public World() { robot1 = CreateRobot("r1", 0, 0.301, 0, 50); robot2 = CreateRobot("r2", 0, 0.301, -4, 100); robot3 = CreateRobot("r3", 0, 0.301, -8, 150); robot4 = CreateRobot("r4", 0, 0.301, -12, 200); thunderhawk = CreateTH(-150, 0.001, -21); MakeNodes(23 /* + 64*/); shelf1 = CreateShelf(-300, 1.401, -300); shelf2 = CreateShelf(-300, 1.401, -300); shelf3 = CreateShelf(-300, 1.401, -300); shelf4 = CreateShelf(-300, 1.401, -300); shelf5 = CreateShelf(-300, 1.401, -300); shelf6 = CreateShelf(-300, 1.401, -300); shelf7 = CreateShelf(-300, 1.401, -300); shelf8 = CreateShelf(-300, 1.401, -300); shelf9 = CreateShelf(-300, 1.401, -300); shelf10 = CreateShelf(-300, 1.401, -300); shelf11 = CreateShelf(-300, 1.401, -300); shelf12 = CreateShelf(-300, 1.401, -300); shelf13 = CreateShelf(-300, 1.401, -300); shelf14 = CreateShelf(-300, 1.401, -300); shelf15 = CreateShelf(-300, 1.401, -300); shelf16 = CreateShelf(-300, 1.401, -300); shelf17 = CreateShelf(-300, 1.401, -300); shelf18 = CreateShelf(-300, 1.401, -300); shelf19 = CreateShelf(-300, 1.401, -300); shelf20 = CreateShelf(-300, 1.401, -300); graph = new Graph(); graph = Graphy(); taskClass = new Tasks(this, this.worldObjects.ToList()); }
private ThunderHawk CreateTH(double x, double y, double z) { ThunderHawk t = new ThunderHawk(x, y, z, 0, (90 * Math.PI / 180), 0); worldObjects.Add(t); return(t); }
public void Update() { ThunderHawk thunderhawk = (ThunderHawk)worldObjects[4]; Robot robot1 = (Robot)worldObjects[0]; Robot robot2 = (Robot)worldObjects[1]; Robot robot3 = (Robot)worldObjects[2]; Robot robot4 = (Robot)worldObjects[3]; Shelf shelf1 = (Shelf)worldObjects[28 + (4 * cycles)]; Shelf shelf2 = (Shelf)worldObjects[29 + (4 * cycles)]; Shelf shelf3 = (Shelf)worldObjects[30 + (4 * cycles)]; Shelf shelf4 = (Shelf)worldObjects[31 + (4 * cycles)]; if (thunderhawk.thunderhawkHere == true) { robot1.ChangeThunderhawkHere(true); robot2.ChangeThunderhawkHere(true); robot3.ChangeThunderhawkHere(true); robot4.ChangeThunderhawkHere(true); } if (robot1.robotReady == true) { MoveShelf(robot1, shelf1, robot1.x, robot1.y, robot1.z); robot1.ChangeShelf(shelf1); robot1.ChangeRobotReady(false); robot1.ChangeRobotLoaded(true); ReadySetGo++; } if (robot2.robotReady == true) { MoveShelf(robot2, shelf2, robot2.x, robot2.y, robot2.z); robot2.ChangeShelf(shelf2); robot2.ChangeRobotReady(false); robot2.ChangeRobotLoaded(true); ReadySetGo++; } if (robot3.robotReady == true) { MoveShelf(robot3, shelf3, robot3.x, robot3.y, robot3.z); robot3.ChangeShelf(shelf3); robot3.ChangeRobotReady(false); robot3.ChangeRobotLoaded(true); ReadySetGo++; } if (robot4.robotReady == true) { MoveShelf(robot4, shelf4, robot4.x, robot4.y, robot4.z); robot4.ChangeShelf(shelf4); robot4.ChangeRobotReady(false); robot4.ChangeRobotLoaded(true); ReadySetGo++; } if (robot1.robotDropped == true) { world.RobotGoesBack(robot1, robot1.target, "A"); } if (robot2.robotDropped == true) { world.RobotGoesBack(robot2, robot2.target, "null1"); } if (robot3.robotDropped == true) { world.RobotGoesBack(robot3, robot3.target, "null2"); } if (robot4.robotDropped == true) { world.RobotGoesBack(robot4, robot4.target, "null3"); } if (ReadySetGo == 4) { thunderhawk.ChangeThunderhawkEmpty(true); robot1.ChangeRobotDone(false); robot2.ChangeRobotDone(false); robot3.ChangeRobotDone(false); robot4.ChangeRobotDone(false); ReadySetGo++; world.THHere(); } if (robot1.robotReset == true && robot2.robotReset == true && robot3.robotReset == true && robot4.robotReset == true) { ReadySetGo = 0; cycles++; robot1.RESET(); robot2.RESET(); robot3.RESET(); robot4.RESET(); thunderhawk.RESET(); } }