public void AimFor(MissionPlanner.Utilities.Vector3 point)
{
lock (aimpoints)
{
//point.Normalize();
//point *= scale;
aimpoints.Add(new Vector3((float)point.x, (float)point.y, (float)point.z));
}
}
public void AddPoint(MissionPlanner.Utilities.Vector3 point)
{
minx = (float)Math.Min(minx, point.X);
maxx = (float)Math.Max(maxx, point.X);
miny = (float)Math.Min(miny, point.Y);
maxy = (float)Math.Max(maxy, point.Y);
minz = (float)Math.Min(minz, point.Z);
maxz = (float)Math.Max(maxz, point.Z);
lock (points)
{
//point.Normalize();
//point *= scale;
points.Add(new Vector3((float)point.x, (float)point.y, (float)point.z));
}
this.Invalidate();
}
protected override void OnPaint(System.Windows.Forms.PaintEventArgs e)
{
if (this.DesignMode)
{
e.Graphics.Clear(Color.Black);
return;
}
GL.Viewport(0, 0, this.Width, this.Height);
// radians += 5 * deg2rad;
if (rotatewithdata)
{
yaw += 5 * deg2rad;
}
MakeCurrent();
GL.MatrixMode(MatrixMode.Projection);
double max = Math.Max(Math.Max((maxx - minx) / 2, (maxy - miny) / 2), (maxz - minz) / 2);
if (max < 300)
{
max = 400;
}
max *= 1.3;
if (points.Count > 0)
{
//Vector3 current = new Vector3(points[points.Count - 1].X, points[points.Count - 1].Y, points[points.Count - 1].Z);
//yaw = Math.Atan2(points[points.Count - 1].X, points[points.Count - 1].Y);
}
OpenTK.Matrix4 projection = OpenTK.Matrix4.CreatePerspectiveFieldOfView((float)(45 * deg2rad), 1f, 0.00001f, 5000.0f);
GL.LoadMatrix(ref projection);
float eyedist = (float)max * 3;
// Z X Y
eye = Vector3.TransformPosition(eye, Matrix4.CreateRotationZ((float)yaw));
yaw = 0;
pitch = 0;
if (float.IsNaN(eye.X))
{
eye = new Vector3(1, 1, 1);
}
eye.Normalize();
eye *= eyedist;
//Console.WriteLine("eye "+ eye.ToString());
//(maxx + minx) / 2, (maxy + miny) / 2, (maxz + minz) / 2
Matrix4 modelview = Matrix4.LookAt(eye.X, eye.Y, eye.Z, 0, 0, 0, 0, 0, 1); // CenterPoint.X, CenterPoint.Y, CenterPoint.Z
GL.MatrixMode(MatrixMode.Modelview);
GL.LoadMatrix(ref modelview);
GL.ClearColor(Color.Black);
GL.Clear(ClearBufferMask.ColorBufferBit | ClearBufferMask.DepthBufferBit);
// 3
GL.PointSize(8);
GL.Begin(PrimitiveType.Lines);
// +tivs
GL.Color3(Color.FromArgb(0, 0, 255));
GL.Vertex3(0, 0, 0);
GL.Vertex3(0, 0, max);
GL.Color3(Color.FromArgb(0, 255, 0));
GL.Vertex3(0, 0, 0);
GL.Vertex3(0, max, 0);
GL.Color3(Color.FromArgb(255, 0, 0));
GL.Vertex3(0, 0, 0);
GL.Vertex3(max, 0, 0);
// -atives
GL.Color3(Color.FromArgb(255, 255, 0));
GL.Vertex3(0, 0, 0);
GL.Vertex3(0, 0, -max);
GL.Color3(Color.FromArgb(255, 0, 255));
GL.Vertex3(0, 0, 0);
GL.Vertex3(0, -max, 0);
GL.Color3(Color.FromArgb(0, 255, 255));
GL.Vertex3(0, 0, 0);
GL.Vertex3(-max, 0, 0);
GL.End();
//GL.Rotate(Pitch, 0, 0, 0);
//GL.Rotate(Roll, 0, 0, 0);
// GL.Rotate(Yaw, 0, 0, 0);
GL.Begin(PrimitiveType.Points);
lock (points)
{
foreach (var item in points)
{
float rangex = maxx - minx;
float rangey = maxy - miny;
float rangez = maxz - minz;
int valuex = (int)Math.Abs((((item.X) / rangex) * 254)) & 0xff;
int valuey = (int)Math.Abs((((item.Y) / rangey) * 254)) & 0xff;
int valuez = (int)Math.Abs((((item.Z) / rangez) * 254)) & 0xff;
Color col = Color.FromArgb(valuex, valuey, valuez);
GL.Color3(col);
var vec = new MissionPlanner.Utilities.Vector3(item.X, item.Y, item.Z) + CenterPoint;
GL.Vertex3(new Vector3((float)vec.x, (float)vec.y, (float)vec.z));
}
lock (aimpoints)
{
foreach (var aim in aimpoints)
{
GL.PointSize(8);
GL.Color3(Color.White);
var vec = new MissionPlanner.Utilities.Vector3(aim.X, aim.Y, aim.Z) + CenterPoint;
GL.Vertex3(new Vector3((float)vec.x, (float)vec.y, (float)vec.z));
}
}
GL.End();
// 8
GL.PointSize(12);
GL.Begin(PrimitiveType.Points);
GL.Color3(Color.Red);
if (points.Count > 0)
{
var vec = new MissionPlanner.Utilities.Vector3(points[points.Count - 1].X, points[points.Count - 1].Y, points[points.Count - 1].Z) + CenterPoint;
GL.Vertex3(new Vector3((float)vec.x, (float)vec.y, (float)vec.z));
}
}
GL.End();
Console.WriteLine(Math.Atan2(eye.Y, eye.X));
//float newyaw = 0 * deg2rad;
//DrawCircle(CenterPoint.X, CenterPoint.Y, CenterPoint.Z, newyaw, (float)(max), 60);
this.SwapBuffers();
}
