StagePass4::StagePass4(Ogre::SceneManager* sceneManager, StageManager* stageManager, MyGUI::Gui* gui)
: LevelStage(sceneManager, stageManager, gui, 4)
{
/// 初始化大炮
initializeCannon("CannonDefine.xml", "BulletDefine4.xml");
/// 初始化迷宫
initializeMaze("M4.xml", "CellDefine.xml");
/// 初始化飞船
initializeUFO("UFODefine4.xml");
/// 新增一个monster管理器
MonsterManager::initialize(mMaze, "MonsterDefine.xml");
mMonsterManager = MonsterManager::getMonsterManager();
/// 初始化一波一波怪物的参数,每层的波数不一样
mMonsterManager->setMonsterWave("monsterWave4.xml");
mMonsterManager->setUFO(mUFO);
// 为结束画面菜单增加回调
//mGui->findWidget<MyGUI::Button>("ed_replay_btn")->eventMouseButtonClick += MyGUI::newDelegate(this, &StagePass3::onEdReplayBtnClick);
//mGui->findWidget<MyGUI::Button>("ed_next_btn")->eventMouseButtonClick += MyGUI::newDelegate(this, &StagePass3::onEdNextBtnClick);
/// 设置天空盒
mSceneManager->setSkyBox(true, "Glass/Skybox");
mCurrentStep = new StagePass1Step0(this);
mCurrentStep->init();
}
void solveMaze()
{
//Reset maze to 0
initializeMaze(&maze);
//We Know at the starting point, there's something behind us
setN(&maze[0][0], 1);
mouse.direction.x = 0;
mouse.direction.y = -1;
mouse.x = 0;
mouse.y = 0;
//Disable the mouse for now
enableDrive(0);
turnOnTimers(0, 0);
int areWeSearching = UserInterfaceIntro();
//Does the user want to skip the search phase and load a maze from EEPROM
if(areWeSearching)
{
/* SEARCH MAZE */
for(int i = 0; i < 10; i++)
{
turnOnLeds(7);
_delay_ms(10);
turnOnLeds(0);
_delay_ms(90);
}
//Init Mouse
enableDrive(1);
turnOnTimers(1, 1);
setDirection(0, 0);
//Update Sensors
updateSensors();
updateSensors();
updateWalls();
//Go Forward first block
mouse.IR_LONG_CHECK_LEFT = 2;
mouse.IR_LONG_CHECK_RIGHT = 2;
straight(480, 0, mouse.maxVelocity, mouse.maxVelocity, mouse.acceleration, mouse.deceleration);
mouse.x += mouse.direction.x;
mouse.y -= mouse.direction.y;
/* SEARCH */
InitialSearchRun();
//Search is Complete!
updateWalls();
/* TURN AROUND */
mouse.rightMotor.stepCount = mouse.leftMotor.stepCount = 0;
StopFromSpeedHalf();
mouse.rightMotor.stepCount = mouse.leftMotor.stepCount = 0;
moveBackwards();
//Save Maze to EEPROM
saveCurrentMaze();
writeMemByte(MOUSE_DIRECTION, firstTurn);
mouse.rightMotor.stepCount = mouse.leftMotor.stepCount = 0;
moveForwardHalf();
//Current Mouse Direction
int dirx = mouse.direction.x;
int diry = mouse.direction.y;
//Reverse and go back
mouse.direction.x = -dirx;
mouse.direction.y = -diry;
//Set Position to next block
mouse.x += mouse.direction.x;
mouse.y -= mouse.direction.y;
/* RETURN SEARCH*/
ReturnSearchRun();
//Turn Around
mouse.rightMotor.stepCount = mouse.leftMotor.stepCount = 0;
StopFromSpeedHalf();
mouse.rightMotor.stepCount = mouse.leftMotor.stepCount = 0;
moveBackwards();
//Save Maze to EEPROM
saveCurrentMaze();
writeMemByte(MOUSE_DIRECTION, firstTurn);
/* PICK UP AND PLACE MOUSE */
enableDrive(0);
waitForButtonPressed();
}
/* FAST RUN */
FastRun();
//Completed Search run, go back and search some more
turnAroundInPlace();
floodFill(maze, firstTurn, mouse.x, mouse.y);
/* RETURN */
ReturnSearchRun();
//Turn Around
mouse.rightMotor.stepCount = mouse.leftMotor.stepCount = 0;
StopFromSpeedHalf();
mouse.rightMotor.stepCount = mouse.leftMotor.stepCount = 0;
moveBackwards();
//Save Maze to EEPROM
saveCurrentMaze();
writeMemByte(MOUSE_DIRECTION, firstTurn);
stopMouse();
while(!isButtonPushed(1));
printMaze(maze);
}
