[i=s] 本帖最后由 17080134968 于 2019-10-22 00:55 编辑 [/i]
穿梭车模型，代码还有些问题，有懂的可以给支支招啊！
1、小车运动轨迹问题，小车与提升机协作的时候，实体怎么引用以获取坐标？
2、小车[size=14.3999996185303px]调度问题 [/size]
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/**Custom Code*/
Object current = param(1);
Object item = param(2);
int port = param(3);
treenode destination = param(4);
double priority = param(5);
int preempt = param(6);
treenode dispatcher = current.centerObjects[1];
treenode lift=Model.find("Elevator1");
treenode ts = createcoordinatedtasksequence(dispatcher);
int opkey = insertallocatetask(ts, dispatcher, 0, 0);
int liftkey = insertallocatetask(ts, lift, 0, 0);
int oploc=insertproxytask(ts,opkey,TASKTYPE_TRAVEL,liftkey,NULL );//3
int liftloc=insertproxytask(ts,liftkey,TASKTYPE_TRAVEL,opkey,NULL );//3
insertsynctask(ts,liftloc);//6
insertsynctask(ts,oploc);//5
int opload=insertproxytask(ts,liftkey,TASKTYPE_LOAD,opkey,liftkey);// 7
insertsynctask(ts,opload);//8
int moveupdes1=insertproxytask(ts,liftkey,TASKTYPE_TRAVELTOLOC,NULL,NULL,xloc(lift),yloc(lift),vectorprojectz(up(item),xloc(item),yloc(item),zloc(item),model()));
insertsynctask(ts,moveupdes1);//11
int loadupdes1=insertproxytask(ts,opkey,TASKTYPE_FRLOAD,item,NULL);//18
insertsynctask(ts,loadupdes1);//11
int moveupdes2=insertproxytask(ts,liftkey,TASKTYPE_TRAVELTOLOC,NULL,NULL,xloc(lift),yloc(lift),item.level-1);
insertsynctask(ts,moveupdes2);
int opmoveout=insertproxytask(ts,liftkey,TASKTYPE_MOVEOBJECT,opkey,model()); //13
insertsynctask(ts,opmoveout);
insertdeallocatetask(ts,liftkey);
insertproxytask(ts,opkey,TASKTYPE_SENDMESSAGE,opkey,item,1,0,0);
insertproxytask(ts,opkey,TASKTYPE_TRAVELTOLOC,NULL,NULL,-0.31+0.6*(item.bay)+1.25,0.72,item.level-1);
insertproxytask(ts,opkey,TASKTYPE_UNLOAD,item,destination);//20
insertdeallocatetask(ts,opkey);
dispatchcoordinatedtasksequence(ts);
return 0;
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