public void DrawReadMap()
{
if (!drawMapOrNot) //第一次畫時直接畫
{
MessageText.text = "";
DrawObstacle.DrawObstacles();
DrawRobot.DrawRobots();
drawMapOrNot = true;
}
else //第二次以後, 先刪掉原本儲存的資料再畫
{
DrawObstacle.obstacles.Clear();
DrawRobot.robots.Clear();
GameObject[] old_obj;
old_obj = GameObject.FindGameObjectsWithTag("Motion_Planning");
for (int i = 0; i < old_obj.Length; i++)
{
Destroy(old_obj [i]);
}
DrawObstacle.DrawObstacles();
DrawRobot.DrawRobots();
}
ProcessText.text = "DrawPotentialField -> BFS -> ShowPath";
}
private void robotViewPanel_Paint(object sender, PaintEventArgs e)
{
Graphics g = e.Graphics;
g.SmoothingMode = SmoothingMode.AntiAlias;
DrawRobot dr = new DrawRobot(this.robotViewPanel);
dr.thetaX = thetaX;
dr.thetaY = thetaY;
dr.thetaZ = thetaZ;
dr.DrawRobotView(g);
g.DrawString(String.Format("{0:f2}", gTotal), fontB, Brushes.Red, 20f, 20f);
g.DrawString(String.Format("{0:f2} {1:f2} {2:f2}", thetaX, thetaY, thetaZ), font, Brushes.Red, 20f, 40f);
}
private void robotViewPanel_Paint(object sender, PaintEventArgs e)
{
Graphics g = e.Graphics;
g.SmoothingMode = SmoothingMode.AntiAlias;
DrawRobot dr = new DrawRobot(this.robotViewPanel);
dr.thetaX = thetaX;
dr.thetaY = thetaY;
dr.thetaZ = thetaZ;
dr.DrawRobotView(g);
g.DrawString(String.Format("{0:f2}",gTotal), fontB, Brushes.Red, 20f, 20f);
g.DrawString(String.Format("{0:f2} {1:f2} {2:f2}", thetaX, thetaY, thetaZ), font, Brushes.Red, 20f, 40f);
}
