public void draw(Graphics g, CoordinateFrame frame)
{
float sx, sy;
float gx, gy;
frame.to_display((float)start_point.x, (float)start_point.y, out sx, out sy);
frame.to_display((float)goal_point.x, (float)goal_point.y, out gx, out gy);
Rectangle startrect = new Rectangle((int)sx - 3, (int)sy - 3, 6, 6);
Rectangle goalrect = new Rectangle((int)gx - 3, (int)gy - 3, 6, 6);
float rx, ry, rsx, rsy;
frame.to_display((float)AOIRectangle.X, (float)AOIRectangle.Y, out rx, out ry);
frame.offset_to_display((float)AOIRectangle.Width, (float)AOIRectangle.Height, out rsx, out rsy);
Rectangle AOIDisplay = new Rectangle((int)rx, (int)ry, (int)rsx, (int)rsy);
//Display Area of Interest rectangle
g.DrawRectangle(EngineUtilities.DashedPen, AOIDisplay);
g.DrawEllipse(EngineUtilities.BluePen, startrect);
g.DrawEllipse(EngineUtilities.RedPen, goalrect);
//Display Point Of Interests
int index = 0;
foreach (Point p in POIPosition)
{
Point p2 = frame.to_display(p);
g.DrawEllipse(EngineUtilities.GreendPen, new Rectangle((int)p2.X - 3, (int)p2.Y - 3, 6, 6));
g.DrawString(index.ToString(), new Font("Verdana", 8), new SolidBrush(Color.Black), p2.X, p2.Y);
index++;
}
foreach (Wall wall in walls)
{
wall.draw(g, frame);
}
}
public void draw(Graphics g, CoordinateFrame frame)
{
float sx,sy;
float gx,gy;
frame.to_display((float)start_point.x,(float)start_point.y,out sx, out sy);
frame.to_display((float)goal_point.x,(float)goal_point.y,out gx,out gy);
Rectangle startrect = new Rectangle((int)sx-3, (int)sy - 3, 6, 6);
Rectangle goalrect = new Rectangle((int)gx-3, (int)gy -3, 6, 6);
float rx,ry,rsx,rsy;
frame.to_display((float)AOIRectangle.X,(float)AOIRectangle.Y,out rx,out ry);
frame.offset_to_display((float)AOIRectangle.Width,(float)AOIRectangle.Height,out rsx, out rsy);
Rectangle AOIDisplay = new Rectangle((int)rx,(int)ry,(int)rsx,(int)rsy);
//Display Area of Interest rectangle
g.DrawRectangle(EngineUtilities.DashedPen, AOIDisplay);
g.DrawEllipse(EngineUtilities.BluePen, startrect);
g.DrawEllipse(EngineUtilities.RedPen, goalrect);
//Display Point Of Interests
int index=0;
foreach (Point p in POIPosition)
{
Point p2 = frame.to_display(p);
g.DrawEllipse(EngineUtilities.GreendPen, new Rectangle((int)p2.X - 3, (int)p2.Y - 3, 6, 6));
g.DrawString(index.ToString(), new Font("Verdana", 8), new SolidBrush(Color.Black), p2.X, p2.Y);
index++;
}
foreach (Wall wall in walls)
{
wall.draw(g, frame);
}
foreach (Prey prey in preys)
{
prey.draw(g, frame);
}
}
public override void draw(Graphics g, CoordinateFrame frame)
{
Rectangle r = new Rectangle();
float cx, cy;
frame.to_display((float)circle.p.x, (float)circle.p.y, out cx, out cy);
r.X = (int)(cx - radius / frame.scale);
r.Y = (int)(cy - radius / frame.scale);
r.Height = (int)((radius * 2) / frame.scale);
r.Width = (int)((radius * 2) / frame.scale);
if (collide_last)
{
g.DrawEllipse(Pens.Red, r);
}
else
{
g.DrawEllipse(Pens.Blue, r);
}
float x1 = (float)(Math.Cos(heading + 0.51f) * radius);
float y1 = (float)(Math.Sin(heading + 0.51f) * radius);
float x2 = (float)(Math.Cos(heading - 0.51f) * radius);
float y2 = (float)(Math.Sin(heading - 0.51f) * radius);
float x3 = (float)(Math.Cos(heading + 0.51f + 3.14f) * radius);
float y3 = (float)(Math.Sin(heading + 0.51f + 3.14f) * radius);
float x4 = (float)(Math.Cos(heading - 0.51f + 3.14f) * radius);
float y4 = (float)(Math.Sin(heading - 0.51f + 3.14f) * radius);
float ox1, ox2, ox3, ox4;
float oy1, oy2, oy3, oy4;
frame.offset_to_display(x1, y1, out ox1, out oy1);
ox1 += cx;
oy1 += cy;
frame.offset_to_display(x2, y2, out ox2, out oy2);
ox2 += cx;
oy2 += cy;
frame.offset_to_display(x3, y3, out ox3, out oy3);
ox3 += cx;
oy3 += cy;
frame.offset_to_display(x4, y4, out ox4, out oy4);
ox4 += cx;
oy4 += cy;
g.DrawLine(Pens.Blue, ox1, oy1, ox2, oy2);
g.DrawLine(Pens.Blue, ox2, oy2, ox3, oy3);
g.DrawLine(Pens.Blue, ox1, oy1, ox4, oy4);
g.DrawLine(Pens.Blue, ox3, oy3, ox4, oy4);
//3.14=1.57
//if (scene.POIPosition.Count == sim_engine.robots.Count)
//{
// g.DrawLine(redpen, new PointF((float)location.x, (float)location.y),
// new PointF(this.scene.POIPosition[agentIndex].X, this.scene.POIPosition[agentIndex].Y));
//}
float dx, dy;
dx = (float)(radius * Math.Cos(heading));
dy = (float)(radius * Math.Sin(heading));
float odx, ody;
frame.offset_to_display(dx, dy, out odx, out ody);
dx += cx;
dy += cy;
g.DrawLine(Pens.Blue, cx, cy, dx, dy);
//TODO: Lable drawing code, how do we know to do this?
//label drawing
//if (bDrawLabel)
// g.DrawString(robot_count.ToString(), new Font("Tahoma", 12, FontStyle.Bold), Brushes.Black, r.X, r.Y + (float)radius);
foreach (ISensor sensor in sensors)
{
sensor.draw(g, frame);
}
}
public override void draw(Graphics g,CoordinateFrame frame)
{
Rectangle r = new Rectangle();
float cx,cy;
frame.to_display((float)circle.p.x,(float)circle.p.y,out cx,out cy);
r.X = (int)(cx-radius/frame.scale);
r.Y = (int)(cy-radius/frame.scale);
r.Height = (int)((radius * 2) / frame.scale);
r.Width = (int)((radius * 2) / frame.scale);
if (collide_last)
g.DrawEllipse(Pens.Red, r);
else
g.DrawEllipse(Pens.Blue, r);
float x1 = (float)(Math.Cos(heading + 0.51f) * radius);
float y1 = (float)(Math.Sin(heading + 0.51f) * radius);
float x2 = (float)(Math.Cos(heading - 0.51f) * radius);
float y2 = (float)(Math.Sin(heading - 0.51f) * radius);
float x3 = (float)(Math.Cos(heading + 0.51f + 3.14f) * radius);
float y3 = (float)(Math.Sin(heading + 0.51f + 3.14f) * radius);
float x4 = (float)(Math.Cos(heading - 0.51f + 3.14f) * radius);
float y4 = (float)(Math.Sin(heading - 0.51f + 3.14f) * radius);
float ox1,ox2,ox3,ox4;
float oy1,oy2,oy3,oy4;
frame.offset_to_display(x1,y1,out ox1,out oy1);
ox1+=cx;
oy1+=cy;
frame.offset_to_display(x2,y2,out ox2,out oy2);
ox2+=cx;
oy2+=cy;
frame.offset_to_display(x3,y3,out ox3,out oy3);
ox3+=cx;
oy3+=cy;
frame.offset_to_display(x4,y4,out ox4,out oy4);
ox4+=cx;
oy4+=cy;
g.DrawLine(Pens.Blue, ox1, oy1, ox2, oy2);
g.DrawLine(Pens.Blue, ox2, oy2, ox3, oy3);
g.DrawLine(Pens.Blue, ox1, oy1, ox4, oy4);
g.DrawLine(Pens.Blue, ox3, oy3, ox4, oy4);
//3.14=1.57
//if (scene.POIPosition.Count == sim_engine.robots.Count)
//{
// g.DrawLine(redpen, new PointF((float)location.x, (float)location.y),
// new PointF(this.scene.POIPosition[agentIndex].X, this.scene.POIPosition[agentIndex].Y));
//}
float dx, dy;
dx = (float)(radius * Math.Cos(heading));
dy = (float)(radius * Math.Sin(heading));
float odx,ody;
frame.offset_to_display(dx,dy,out odx,out ody);
dx+=cx;
dy+=cy;
g.DrawLine(Pens.Blue, cx,cy, dx,dy);
//TODO: Lable drawing code, how do we know to do this?
//label drawing
//if (bDrawLabel)
// g.DrawString(robot_count.ToString(), new Font("Tahoma", 12, FontStyle.Bold), Brushes.Black, r.X, r.Y + (float)radius);
foreach(ISensor sensor in sensors)
{
sensor.draw(g,frame);
}
}
