added rotation and rotation cost, RC for T2

Game1/Content/Content.mgcb

@@ -44,6 +44,18 @@
 /processorParam:TextureFormat=Color
 /build:house.png
 
+#begin Markers.png
+/importer:TextureImporter
+/processor:TextureProcessor
+/processorParam:ColorKeyColor=255,0,255,255
+/processorParam:ColorKeyEnabled=True
+/processorParam:GenerateMipmaps=False
+/processorParam:PremultiplyAlpha=True
+/processorParam:ResizeToPowerOfTwo=False
+/processorParam:MakeSquare=False
+/processorParam:TextureFormat=Color
+/build:Markers.png
+
 #begin Mountain.png
 /importer:TextureImporter
 /processor:TextureProcessor

Game1/Game1.cs

@@ -16,9 +16,11 @@ namespace Game1
         private Texture2D[] tile = new Texture2D[5];
         private Texture2D tractor;
         private Texture2D house;
+        private Texture2D markers;
         private Tractor tractorUnit = new Tractor();
         private Input input = new Input();
         private House houseUnit = new House();
+        private Vector2 mousePosition;
 
 
         public Game1()
@@ -63,6 +65,7 @@ namespace Game1
             tractor = Content.Load<Texture2D>("Tractor");
             Bold = Content.Load<SpriteFont>("Font");
             house = Content.Load<Texture2D>("house");
+            markers = Content.Load<Texture2D>("Markers");
         }
 
 
@@ -77,12 +80,19 @@ namespace Game1
         {
             if (GamePad.GetState(PlayerIndex.One).Buttons.Back == ButtonState.Pressed || Keyboard.GetState().IsKeyDown(Keys.Escape))
                 Exit();
+
+
+            MouseState state = Mouse.GetState();
+            mousePosition = new Vector2(state.X, state.Y);
+
             tractorUnit.updateSizing(input, 0, houseUnit.getVector());                                                                  //Updates the size
             tractorUnit.setSpeed(input.changeSpeed(tractorUnit.getSpeed()));                                                            //Updates the Simulation Speed
             tractorUnit.setTractorSpeed(input.changeTractorSpeed(tractorUnit.getTractorSpeed(), tractorUnit.getPos()));                 //Updates the Tractor Speed
             input.controlWindowSize();                                                                                                  //Controls the size of the screen depending on the number of tiles
             houseUnit.updateRectangle(input.getSize(), input.getTileSize(), input.getSpacing());                                        //Updates the position of the house if the house appears out of bound
 
+
+
             base.Update(gameTime);
         }
 
@@ -100,21 +110,32 @@ namespace Game1
                     spriteBatch.Draw(tile[tractorUnit.getFarm().getCrop(i, j).Status], new Rectangle(i * (input.getSpacingTile()), j * (input.getSpacingTile()), input.getTileSize(), input.getTileSize()), Color.White);
                 }
             }
-            spriteBatch.Draw(tractor, new Rectangle((int)tractorUnit.getTargetPosition().X / input.getSpacingTile() * (input.getTileSize() + input.getSpacing()) + input.getTileSize() / 4, (int)tractorUnit.getTargetPosition().Y / input.getSpacingTile() * (input.getTileSize() + input.getSpacing()) + input.getTileSize() / 4, input.getTileSize()/2, input.getTileSize()/2), Color.Green);
+            spriteBatch.Draw(markers, new Rectangle((int)tractorUnit.getTargetPosition().X / input.getSpacingTile() * (input.getTileSize() + input.getSpacing()) + input.getTileSize() / 4, (int)tractorUnit.getTargetPosition().Y / input.getSpacingTile() * (input.getTileSize() + input.getSpacing()) + input.getTileSize() / 4, input.getTileSize()/2, input.getTileSize()/2), Color.Green);
             for (int i = 0; i < tractorUnit.getPath().getCount() + 1; i++)
             {
-                spriteBatch.Draw(tractor, new Rectangle((int)tractorUnit.getPath().getByIndex(i).getCords().X * (input.getSpacingTile()) + input.getTileSize() / 4, (int)tractorUnit.getPath().getByIndex(i).getCords().Y * (input.getSpacingTile()) + input.getTileSize() / 4, input.getTileSize()/2, input.getTileSize()/2), Color.Green);
+                spriteBatch.Draw(markers, new Rectangle((int)tractorUnit.getPath().getByIndex(i).getCords().X * (input.getSpacingTile()) + input.getTileSize() / 4, (int)tractorUnit.getPath().getByIndex(i).getCords().Y * (input.getSpacingTile()) + input.getTileSize() / 4, input.getTileSize()/2, input.getTileSize()/2), Color.Green);
             }
 
-            spriteBatch.Draw(tractor, new Rectangle((int)tractorUnit.getPos().X, (int)tractorUnit.getPos().Y, input.getTileSize(), input.getTileSize()), Color.White);
+
+
+
             spriteBatch.Draw(house, houseUnit.GetRectangle(), Color.White);
+            spriteBatch.Draw(markers, new Rectangle((int)tractorUnit.getPath().getFinalDest().getCords().X * (input.getSpacingTile()) + Convert.ToInt32(input.getTileSize() / 6), (int)tractorUnit.getPath().getFinalDest().getCords().Y * (input.getSpacingTile()) + Convert.ToInt32(input.getTileSize() / 6), Convert.ToInt32(input.getTileSize() / 1.5), Convert.ToInt32(input.getTileSize() / 1.5)), Color.Red);                         //Draws the current target of the tractor
+            spriteBatch.Draw(tractor, new Vector2((int)tractorUnit.getPos().X + input.getTileSize() / 2, (int)tractorUnit.getPos().Y + input.getTileSize() / 2), new Rectangle(0, 0, input.getTileSize(), input.getTileSize()), Color.White, tractorUnit.getRotation(), new Vector2(input.getTileSize() / 2, input.getTileSize() / 2), 1.0f, SpriteEffects.None, 1);
+
+
+
             spriteBatch.DrawString(Bold, "Speed:" + tractorUnit.getSpeed().ToString(), new Vector2(10, input.getSize().Y * (input.getTileSize() + input.getSpacing()) + 20) , Color.White);                                                //Draws the speed value
-            spriteBatch.Draw(tractor, new Rectangle((int)tractorUnit.getPath().getFinalDest().getCords().X * (input.getSpacingTile()) + Convert.ToInt32(input.getTileSize() / 6), (int)tractorUnit.getPath().getFinalDest().getCords().Y * (input.getSpacingTile()) + Convert.ToInt32(input.getTileSize() / 6), Convert.ToInt32(input.getTileSize() / 1.5), Convert.ToInt32(input.getTileSize() / 1.5)), Color.Red);                         //Draws the current target of the tractor
+            
             spriteBatch.DrawString(Bold, "Tractor Speed:" + tractorUnit.getTractorSpeed().ToString(), new Vector2(100, input.getSize().Y * (input.getTileSize() + input.getSpacing()) + 20), Color.White);
             spriteBatch.DrawString(Bold, "Tile Size:" + input.getTileSize().ToString() + "pix", new Vector2(10, input.getSize().Y * (input.getTileSize() + input.getSpacing()) + 40), Color.White);                                        //Draws the tile size
-            spriteBatch.DrawString(Bold, "Matrix Size: " + input.getSize().X.ToString() + " X " + input.getSize().Y.ToString(), new Vector2(10, input.getSize().Y * (input.getTileSize() + input.getSpacing()) + 60), Color.White);
+            spriteBatch.DrawString(Bold, "Matrix Size: " + input.getSize().X.ToString() + " X " + input.getSize().Y.ToString(), new Vector2(10, input.getSize().Y * (input.getTileSize() + input.getSpacing()) + 60), Color.White);spriteBatch.DrawString(Bold, "Tile Size:" + input.getTileSize().ToString() + "pix", new Vector2(10, input.getSize().Y * (input.getTileSize() + input.getSpacing()) + 40), Color.White);
+            spriteBatch.DrawString(Bold, "Tractor Rotation:" + tractorUnit.getRotation().ToString() + " Degrees", new Vector2(250, input.getSize().Y * (input.getTileSize() + input.getSpacing()) + 20), Color.White);
             spriteBatch.DrawString(Bold, tractorUnit.getCurrentTask(), new Vector2(10, input.getSize().Y * (input.getTileSize() + input.getSpacing()) + 80), Color.White);  //Draws the tile size
             spriteBatch.DrawString(Bold, tractorUnit.getScore().ToString(), new Vector2(10, input.getSize().Y * (input.getTileSize() + input.getSpacing()) + 100), Color.White);
+
+            spriteBatch.Draw(tractor, new Rectangle((int)mousePosition.X, (int)mousePosition.Y, input.getTileSize() / 4, input.getTileSize() / 4), Color.White);
+
             spriteBatch.End();
 
             base.Draw(gameTime);

Game1/Game1.csproj

@@ -69,6 +69,7 @@
   <ItemGroup>
     <Content Include="Content\Crop.png" />
     <Content Include="Content\house.png" />
+    <Content Include="Content\Markers.png" />
     <Content Include="Content\Mountain.png" />
     <Content Include="Content\Planted.png" />
     <Content Include="Content\Tile.png" />

Game1/Sources/Crops/Crops.cs

@@ -41,7 +41,7 @@ class Crops
         }
         else if (Status == 3)
         {
-            return 20;
+            return 15;
         }
         else
         {

Game1/Sources/Objects/Tractor.cs

@@ -9,7 +9,7 @@ class Tractor
 
 
 
-    private int Spacing, sizeTile, Speed = 1;
+    private int Spacing, sizeTile, Speed = 1, Rotation = 180, rotationSpeed = 5;
     private float tractorSpeed = 1;
     private String currentTask;
 
@@ -46,6 +46,7 @@ class Tractor
     private void updateDirection(Vector2 Size, Vector2 newPosition)
     {
         Vector2 DeltaPosition = TargetPosition - Position;
+        
         if (DeltaPosition.X == 0)
         {
             if (DeltaPosition.Y == 0)
@@ -54,20 +55,20 @@ class Tractor
             }
             else if (DeltaPosition.Y > 0)
             {
-                Direction = new Vector2(0, 1) * tractorSpeed;
+                updateRotation(0);
             }
             else if (DeltaPosition.Y < 0)
             {
-                Direction = new Vector2(0, -1) * tractorSpeed;
+                updateRotation(1);
             }
         }
         else if (DeltaPosition.X > 0)
         {
-            Direction = new Vector2(1, 0) * tractorSpeed;
+            updateRotation(2);
         }
         else if (DeltaPosition.X < 0)
         {
-            Direction = new Vector2(-1, 0) * tractorSpeed;
+            updateRotation(3);
         }
 
     }
@@ -79,8 +80,8 @@ class Tractor
         farm.updateSize(Size, sizeTile, Spacing);
         for (int i = 0; i < Speed; i++) //Where all the choices the tractor does comes from
         {
-            smartTractor.updateMap(Position, housePos, farm.getCrops(), Size, sizeTile, Spacing, scoreSystem.getScore());
+            smartTractor.updateMap(Position, housePos, farm.getCrops(), Size, sizeTile, Spacing, scoreSystem.getScore(), Rotation);
-            Position = Position + Direction;
+            
             updateDirection(Size, Position);
 
         }
@@ -120,7 +121,121 @@ class Tractor
         }
     }
 
+    private void updateRotation(int Destination)
+    {
+        if (Destination == 0)
+        {
+            if (Rotation == 0)
+            {
+                Direction = new Vector2(0, 1) * tractorSpeed;
+                Position = Position + Direction;
+            }
+            else
+            {
+                if (Rotation == 0)
+                {
+                    //Do nothing
+                }
+                else if (Rotation  > 180)
+                {
+                    if (Rotation >= 360)
+                    {
+                        Rotation = 0;
+                    }
+                    Rotation = Rotation + rotationSpeed;
+                }
+                else if (Rotation <= 180 && Rotation > 0)
+                {
+                    Rotation = Rotation - rotationSpeed;
+                }
+            }
+        }
+        else if (Destination == 1)
+        {
+            if (Rotation == 180)
+            {
+                Direction = new Vector2(0, -1) * tractorSpeed;
+                Position = Position + Direction;
+            }
+            else
+            {
+                if (Rotation == 180)
+                {
+                    //Do nothing
+                }
+                else if (Rotation >= 0 && Rotation < 180)
+                {
+                    Rotation = Rotation + rotationSpeed;
+                }
+                else if (Rotation < 360 && Rotation > 180)
+                {
+                    Rotation = Rotation - rotationSpeed;
+                }
+            }
 
+        }
+        else if (Destination == 2)
+        {
+            if (Rotation == 270)
+            {
+                Direction = new Vector2(1, 0) * tractorSpeed;
+                Position = Position + Direction;
+            }
+            else
+            {
+                if (Rotation == 270)
+                {
+                    //Do nothing
+                }
+                else if (Rotation > 90 && Rotation < 270)
+                {
+                    Rotation = Rotation + rotationSpeed;
+                }
+                else if (Rotation < 90 || Rotation < 360)
+                {
+                    if (Rotation <= 0)
+                    {
+                        Rotation = 360;
+                    }
+                    Rotation = Rotation - rotationSpeed;
+                }
+            }
+        }
+        else if (Destination == 3)
+        {
+            if (Rotation == 90)
+            {
+                Direction = new Vector2(-1, 0) * tractorSpeed;
+                Position = Position + Direction;
+            }
+            else
+            {
+                if (Rotation == 90)
+                {
+                    //Do nothing
+                }
+                else if ( Rotation < 270 && Rotation > 90)
+                {
+                    Rotation = Rotation - rotationSpeed;
+                }
+                else if (Rotation >= 0 || Rotation > 270)
+                {
+                    if (Rotation >= 360)
+                    {
+                        Rotation = 0;
+                    }
+                    Rotation = Rotation + rotationSpeed;
+                }
+            }
+
+        }
+    }
+
+    public float getRotation()
+    {
+        return MathHelper.ToRadians(Rotation);
+
+    }
 
     public Vector2 getPos()
     {

Game1/Sources/Pathing/A-Star/Astar.cs

@@ -14,15 +14,16 @@ class Astar
     private Vector2 Size;
     private PriorityQueue allPaths;
     private Vector2 targetPos;
+    private int Rotation;
 
-    public void update(Crops[,] newCrops, Vector2 newSize, Vector2 newTractorPos, Vector2 newHousePos, Vector2 newtargetPos)
+    public void update(Crops[,] newCrops, Vector2 newSize, Vector2 newTractorPos, Vector2 newHousePos, Vector2 newtargetPos, int rotation)
     {
         tractorPos = new Vector2((int)newTractorPos.X, (int)newTractorPos.Y);
         housePos = new Vector2((int)newHousePos.X, (int)newHousePos.Y);
         targetPos = newtargetPos;
         crops = newCrops;
         Size = newSize;
-
+        Rotation = rotation;
     }
 
     public Nodes getOptimalPath()
@@ -30,7 +31,7 @@ class Astar
         return allPaths.Peek();
     }
 
-    private List <Nodes> GetAdjacentNodes(Vector2 currentPos)
+    private List<Nodes> GetAdjacentNodes(Vector2 currentPos)
     {
         var adjacentNodes = new List<Nodes>()
 
@@ -42,7 +43,7 @@ class Astar
         };
 
         //check if out of range
-        for (int i = 3; i >=0; i--)
+        for (int i = 3; i >= 0; i--)
         {
             if (adjacentNodes[i].getCords().X < 0 || adjacentNodes[i].getCords().Y < 0)
                 adjacentNodes.Remove(adjacentNodes[i]);
@@ -68,12 +69,26 @@ class Astar
         if (currDir == newDir)
             return 0;
         else if (Math.Abs(currDir - newDir) == 1 || Math.Abs(currDir - newDir) == 3)
-            return 1;
+            return 3;
         else if (Math.Abs(currDir - newDir) == 0 || Math.Abs(currDir - newDir) == 2) //its for turning back, so it never should happen anyway, remove this check then?
-            return 10;
+            return 9;
         return 0;
     }
 
+    public int ConvertRotation()
+    {
+        int rotation = 0;
+        if (Rotation == 180)
+            rotation = 0;
+        else if (Rotation == 270)
+            rotation = 1;
+        else if (Rotation == 0)
+            rotation = 2;
+        else if (Rotation == 90)
+            rotation = -1;
+        return rotation;
+    }
+
     public Path FindPath()
     {
         Path path = new Path();
@@ -82,10 +97,11 @@ class Astar
         //PriorityQueue closedList = new PriorityQueue();
         MinHeap closedList = new MinHeap();
         Nodes target = new Nodes(targetPos);
-        Nodes startPos = new Nodes (tractorPos);
+        int direction = ConvertRotation();
+        Nodes startPos = new Nodes(tractorPos, direction);
         Nodes current = null;
-        int direction = 6;
         int g = 0;
+        //int direction = SmartTractor.update
 
         //openList.Enqueue(startPos);
         openList.Insert(startPos);
@@ -103,7 +119,7 @@ class Astar
             direction = current.getDirection();
 
             if (current.getCords() == target.getCords())
-               break;
+                break;
 
 
             //if (closedList.Exists(target.getCords()))
@@ -111,14 +127,14 @@ class Astar
 
             var adjacentNodes = GetAdjacentNodes(current.getCords());
             //g++;
-            foreach(var adjacentNode in adjacentNodes)
+            foreach (var adjacentNode in adjacentNodes)
             {
                 if (closedList.Exists(adjacentNode.getCords()))
                     continue;
                 g = current.getG() + crops[(int)adjacentNode.getCords().X, (int)adjacentNode.getCords().Y].getCostOnMovement() + CalculateRotationCost(direction, adjacentNode.getDirection());
                 if (!(openList.Exists(adjacentNode.getCords())))
                 {
-                    
+
                     adjacentNode.setG(g);
                     adjacentNode.setH(ComputeHScore(adjacentNode.getCords(), target.getCords()));
                     adjacentNode.calculateF();
@@ -128,7 +144,7 @@ class Astar
                 }
                 else
                 {
-                    if(g + adjacentNode.getH() < adjacentNode.getF())
+                    if (g + adjacentNode.getH() < adjacentNode.getF())
                     {
                         adjacentNode.setG(g);
                         adjacentNode.calculateF();
@@ -154,4 +170,4 @@ class Astar
         return path;
     }
 
-}   
+}

Game1/Sources/Pathing/A-Star/PathSaver/Nodes.cs

@@ -27,7 +27,7 @@ class Nodes
         Direction = direction;
     }
 
-    public Nodes (Nodes node)
+    public Nodes(Nodes node)
     {
         F = node.F;
         G = node.G;
@@ -94,4 +94,4 @@ class Nodes
     {
         return Direction;
     }
-}
+}

Game1/Sources/Smart/SmartTractor.cs

@@ -15,6 +15,7 @@ class SmartTractor
     private int Spacing;
     private Random r = new Random();
     private Astar astar = new Astar();
+    private int Rotation;
 
 
     //What to do next
@@ -30,7 +31,7 @@ class SmartTractor
             //To the fields
             getTargetPosition(r.Next(0, (int)Size.X), r.Next(0, (int)Size.Y));
         }
-        astar.update(crops, Size, tractorPos / (tileSize + Spacing), housePos / (tileSize + Spacing), Target/(tileSize+Spacing));
+        astar.update(crops, Size, tractorPos / (tileSize + Spacing), housePos / (tileSize + Spacing), Target/(tileSize+Spacing), Rotation);
         //astar.FindPath();
         return astar.FindPath();
     }
@@ -41,7 +42,7 @@ class SmartTractor
 
 
     //Updates the variables every frame
-    public void updateMap(Vector2 newTractorPos, Vector2 newHousePos, Crops[,] newCropsStatus, Vector2 newSize, int newTileSize, int newSpacing, int newScore)
+    public void updateMap(Vector2 newTractorPos, Vector2 newHousePos, Crops[,] newCropsStatus, Vector2 newSize, int newTileSize, int newSpacing, int newScore, int rotation)
     {
         crops = newCropsStatus;
         housePos = newHousePos;
@@ -50,8 +51,8 @@ class SmartTractor
         tileSize = newTileSize;
         Spacing = newSpacing;
         Score = newScore;
+        Rotation = rotation;
 
-        
     }
 
     private void getTargetPosition(int x, int y)