private void recreateRoomsButton_Click(object sender, EventArgs e)
{
if (mazeGraph != null && MessageBox.Show("This operation will remove the rooms and the graph. It cannot be undone.\n Are you sure?", "", MessageBoxButtons.OKCancel) != DialogResult.OK)
return;
mazeGraph = new MazeGraph();
mazeRooms = new ArrayList();
roomsTreeView.Nodes.Clear();
RoomsGraphBuilder roomsGraphBuilder = new RoomsGraphBuilder();
if (!ConvexOnlyCheckBox.Checked)
{
roomsGraphBuilder.GenerateConvexRoomsOnly = false;
roomsGraphBuilder.SplitRoomsIntoConvex = false;
}
foreach (MazeWall wall in mazeWalls)
{
if (wall.MazeWallType == MazeWallType.wall)
roomsGraphBuilder.AddWall(new Point2D(wall.points[0].X, wall.points[0].Y), new Point2D(wall.points[1].X, wall.points[1].Y));
else
roomsGraphBuilder.AddDoor(new Point2D(wall.points[0].X, wall.points[0].Y), new Point2D(wall.points[1].X, wall.points[1].Y));
}
roomsGraphBuilder.BuildRegion();
Hashtable mazeNodeByRoomasGraphNodes = new Hashtable();
Hashtable mazeWallsByRoomasGraphWalls = new Hashtable();
ArrayList oldMazeWalls = mazeWalls;
mazeWalls = new ArrayList();
foreach (Room graphBuilderRoom in roomsGraphBuilder.Rooms)
{
ArrayList roomWalls = new ArrayList();
foreach (Wall graphBuilderWall in graphBuilderRoom.Walls)
{
bool oldWallFound = false;
foreach (MazeWall mazeWall in oldMazeWalls) //find old
{
if (mazeWall.Segment.ContainsSegment(graphBuilderWall.WallSegment))
{
oldWallFound = true;
MazeWall roomWall = new MazeWall(graphBuilderWall.From, graphBuilderWall.To, mazeWall.Width, mazeWall.Height, mazeWall.Color);
roomWall.MazeWallType = (graphBuilderWall.Type == Wall.WallType.Solid ? MazeWallType.wall : MazeWallType.gate);
int indexOf = mazeWalls.IndexOf(roomWall);
if (indexOf >= 0)
{
roomWall = (MazeWall)mazeWalls[indexOf];
}
else
{
mazeWalls.Add(roomWall);
mazeWallsByRoomasGraphWalls[graphBuilderWall] = roomWall;
}
roomWalls.Add(roomWall);
break;
}
}
if (!oldWallFound)
{
MazeWall roomWall = new MazeWall(graphBuilderWall.From, graphBuilderWall.To, 0, 0, Color.Black);
int indexOf = mazeWalls.IndexOf(roomWall);
if (indexOf >= 0)
{
roomWall = (MazeWall)mazeWalls[indexOf];
}
else
{
roomWall.MazeWallType = MazeWallType.gate;
mazeWalls.Add(roomWall);
mazeWallsByRoomasGraphWalls[graphBuilderWall] = roomWall;
}
roomWalls.Add(roomWall);
}
}
/* ///reorder walls
ArrayList orderedRoomWalls = new ArrayList();
orderedRoomWalls.Add(roomWalls[0]);
roomWalls.RemoveAt(0);
Point2D nextPoint = (roomWalls[0] as Wall).To;
while (roomWalls.Count > 0)
{
foreach (Wall wall in roomWalls)
if (wall.From.GetDistance(nextPoint) < 0.01)
{
nextPoint = wall.From;
roomWalls.Remove(wall);
orderedRoomWalls.Add(wall);
break;
}
else if (wall.To.GetDistance(nextPoint) < 0.01)
{
nextPoint = wall.To;
roomWalls.Remove(wall);
orderedRoomWalls.Add(wall);
break;
}
}
*/
MazeSpace room = new MazeSpace(roomWalls);
mazeRooms.Add(room);
foreach (MazeWall roomWall in roomWalls)
{
if (roomWall.RoomFrom == null)
roomWall.RoomFrom = room;
else
roomWall.RoomTo = room;
}
////////////////////////////////////// nodes
foreach (RoomsGraph.Node borderNode in graphBuilderRoom.BorderNodes) //push door-nodes into rooms
{
Vector2D v = new Vector2D(borderNode.DoorWall.From, borderNode.DoorWall.To);
v.MakePerpendicular();
v.Length = (double)wallWidthNumericUpDown.Value * 100;
if (Math.Abs(v.AngleBetween(new Vector2D(borderNode.DoorWall.Center, borderNode.Location))) > Math.PI / 2)
v.Inverse();
borderNode.Position.X += v.x;
borderNode.Position.Y += v.y;
}
room.CetralNode = new MazeNode(graphBuilderRoom.CentralNode.Location, room, null);
mazeNodeByRoomasGraphNodes[graphBuilderRoom.CentralNode] = room.CetralNode;
mazeGraph.AddNode(room.CetralNode);
foreach (RoomsGraph.Node n in graphBuilderRoom.BorderNodes)
{
MazeNode mazeGraphNode = new MazeNode(n.Location, room, (MazeWall)mazeWallsByRoomasGraphWalls[n.DoorWall]);
mazeNodeByRoomasGraphNodes[n] = mazeGraphNode;
room.BorderNodes.Add(mazeGraphNode);
mazeGraph.AddNode(mazeGraphNode);
}
}
foreach (RoomsGraph.Arc arc in roomsGraphBuilder.Graph.Arcs)
{
if (mazeNodeByRoomasGraphNodes[arc.StartNode] != null && mazeNodeByRoomasGraphNodes[arc.EndNode] != null)
mazeGraph.AddArc((MazeNode)mazeNodeByRoomasGraphNodes[arc.StartNode], (MazeNode)mazeNodeByRoomasGraphNodes[arc.EndNode]);
}
recreateRoomsTreeView();
recreateGraphTreeView();
RefreshMazeWallsTreeView();
mazePanel_Paint(this, null);
}
/// <summary>
/// ベクトルのクロス積
/// </summary>
/// <param name="a"></param>
/// <param name="b"></param>
/// <returns></returns>
public static Vector3D CrossProduct(Vector2D a, Vector2D b)
{
return new Vector3D(0, 0, a.X * b.Y - a.Y * b.X);
}
private void mazePanel_Paint(object sender, System.Windows.Forms.PaintEventArgs e)
{
mazeBitmapStaticGraphics.Clear(mazeBackColor);
foreach (MazeWall wall in mazeWalls)
{
Pen wallPen = new Pen(wall.Color, wall.Width);
mazeBitmapGraphics.DrawLine(wallPen, wall.points[0], wall.points[1]);
wallPen.Dispose();
}
if (selectedWall != null)
{
mazeBitmapGraphics.DrawLine(selectedWallPen, selectedWall.points[0], selectedWall.points[1]);
}
int size = sizeTrackBar.Value;
int sizeOffset = sizeTrackBar.Value / 2;
foreach (MazeRobot robot in mazeRobots)
{
if (robot.Selected)
{
mazeBitmapGraphics.FillEllipse(robotBrushSelected, robot.position.X - sizeOffset, robot.position.Y - sizeOffset, size, size);
mazeBitmapGraphics.DrawString(robot.name, fontSelected, robotBrushSelected, robot.position.X - sizeOffset, robot.position.Y - sizeOffset);
mazeBitmapGraphics.DrawLine(robotPenArrow, robot.position.X, robot.position.Y, robot.arrow.X, robot.arrow.Y);
}
else
{
robotPenSelected.Color = getRobotColor(robot.Probability);
mazeBitmapGraphics.FillEllipse(robotPenSelected.Brush, robot.position.X - sizeOffset, robot.position.Y - sizeOffset, size, size);
mazeBitmapGraphics.DrawLine(robotPenArrow, robot.position.X, robot.position.Y, robot.arrow.X, robot.arrow.Y);
}
}
RobotTask taskCurrent;
RobotTask taskPrivious = null;
for (int i = 0; i < robotsTaskList.Count(); i++)
{
taskCurrent = robotsTaskList[i];
if (taskCurrent.IsEnd)
mazeBitmapGraphics.FillRectangle(taskPenDone, taskCurrent.GetTaskX - sizeOffset, taskCurrent.GetTaskY - sizeOffset, size, size);
else
mazeBitmapGraphics.FillRectangle(taskPenInProgress, taskCurrent.GetTaskX - sizeOffset, taskCurrent.GetTaskY - sizeOffset, size, size);
if (i == 0)
taskPrivious = taskCurrent;
else
{
if (taskPrivious.RobotID != taskCurrent.RobotID)
taskPrivious = taskCurrent;
else
{
Pen temp = taskPanDirection[taskPrivious.RobotID - 1];
temp.CustomEndCap = new AdjustableArrowCap(size / 2, size / 2);
Vector2D arcDir = new Vector2D(new Point2D(taskPrivious.GetTaskX, taskPrivious.GetTaskY), new Point2D(taskCurrent.GetTaskX, taskCurrent.GetTaskY));
arcDir.Normalize();
mazeBitmapGraphics.DrawLine(temp, taskPrivious.GetTaskX, taskPrivious.GetTaskY, taskCurrent.GetTaskX, taskCurrent.GetTaskY);
taskPrivious = taskCurrent;
}
}
}
/*for(int i = 0; i < mazeTargets.Count; i++)
{
target = (Target) mazeTargets[i];
if (target.TaskDone)
mazeBitmapGraphics.FillRectangle(taskPenDone, target.X - sizeOffset, target.Y - sizeOffset, size, size);
else
mazeBitmapGraphics.FillRectangle(taskPenInProgress, target.X - sizeOffset, target.Y - sizeOffset, size, size);
if ((i > 0) && (i != mazeTargets.Count))
{
targetPrevious = (Target)mazeTargets[i - 1];
Pen temp = taskPanDirection[targetPrevious.ID - 1];
temp.CustomEndCap = new AdjustableArrowCap(size / 2, size / 2);
Vector2D arcDir = new Vector2D(new Point2D(targetPrevious.X, targetPrevious.Y), new Point2D(target.X, target.Y));
arcDir.Normalize();
mazeBitmapGraphics.DrawLine(temp, targetPrevious.X, targetPrevious.Y, target.X, target.Y);
}
}*/
foreach (MazeVictim victim in mazeVictims)
{
mazeBitmapGraphics.FillEllipse(victimBrush, victim.position.X - sizeOffset / 2, victim.position.Y - sizeOffset, size / 2, size);
}
if (objectSelectorTabControl.SelectedTab == graphTabPage && mazeRooms != null)
{
foreach (MazeSpace room in mazeRooms)
DrawRoom(room, false);
foreach (MazeNode node in mazeGraph.MazeGraphNodes)
{
if (node.Door != null)
mazeBitmapGraphics.FillEllipse(graphBrush, (float)node.position.x - sizeOffset, (float)node.position.y - sizeOffset, size, size);
else
mazeBitmapGraphics.FillEllipse(graphBrush, (float)node.position.x - sizeOffset * 2, (float)node.position.y - sizeOffset * 2, size * 2, size * 2);
}
if (graphTreeView.SelectedNode != null && graphTreeView.SelectedNode.Tag as MazeArc != null)
{
MazeArc arc = graphTreeView.SelectedNode.Tag as MazeArc;
mazeBitmapGraphics.DrawLine(selectedGraphPen, (float)arc.from.position.x, (float)arc.from.position.y, (float)arc.to.position.x, (float)arc.to.position.y);
MazeNode node = graphTreeView.SelectedNode.Parent.Tag as MazeNode;
mazeBitmapGraphics.DrawEllipse(selectedGraphPen, (float)node.position.x - sizeOffset, (float)node.position.y - sizeOffset, size, size);
}
if (graphTreeView.SelectedNode != null && graphTreeView.SelectedNode.Tag as MazeNode != null)
{
MazeNode node = graphTreeView.SelectedNode.Tag as MazeNode;
mazeBitmapGraphics.DrawEllipse(selectedGraphPen, (float)node.position.x - sizeOffset, (float)node.position.y - sizeOffset, size, size);
}
foreach (MazeArc arc in mazeGraph.MazeGraphArcs)
{
graphPen.CustomEndCap = new AdjustableArrowCap(size / 2, size / 2);
graphPen.CustomStartCap = new AdjustableArrowCap(1, size / 2);
Vector2D arcDir = new Vector2D(arc.from.position, arc.to.position);
arcDir.Normalize();
Point2D from = arc.from.position.GetTranslatedPoint(arcDir * (arc.from.Door == null ? size : size / 2));
arcDir.Inverse();
Point2D to = arc.to.position.GetTranslatedPoint(arcDir * (arc.to.Door == null ? size : size / 2));
if (true)
mazeBitmapGraphics.DrawString(arc.Weight.ToString(), fontGraph, robotBrushSelected, (float)((arc.from.position.x + arc.to.position.x) / 2), (float)((arc.from.position.y + arc.to.position.y) / 2));
mazeBitmapGraphics.DrawLine(graphPen, from, to);
}
}
if (objectSelectorTabControl.SelectedTab == roomsTabPage && mazeRooms != null)
{
foreach (MazeSpace room in mazeRooms)
{
DrawRoom(room, false);
}
if (roomsTreeView.SelectedNode != null)
{
if (roomsTreeView.SelectedNode.Tag as MazeSpace != null)
{
DrawRoom(roomsTreeView.SelectedNode.Tag as MazeSpace, true);
}
else if (roomsTreeView.SelectedNode.Tag as MazeWall != null)
{
DrawRoom(roomsTreeView.SelectedNode.Parent.Tag as MazeSpace, true);
MazeWall door = roomsTreeView.SelectedNode.Tag as MazeWall;
mazeBitmapGraphics.DrawLine(selectedDoorPen, door.points[0], door.points[1]);
}
foreach (MazeWall door in mazeWalls)
{
if (door.MazeWallType != MazeWallType.gate)
continue;
Vector2D v = new Vector2D(door.points[0], door.points[1]);
v.MakePerpendicular();
v.Length = 20;
if (door.MazeDoorType == MazeGateType.door)
{
mazeBitmapGraphics.DrawLine(doorPenWithArrow, door.Center, door.Center.GetTranslatedPoint(v));
v.Inverse();
mazeBitmapGraphics.DrawLine(doorPenWithArrow, door.Center, door.Center.GetTranslatedPoint(v));
}
else if (door.MazeDoorType == MazeGateType.passage)
{
mazeBitmapGraphics.DrawLine(passagePenWithArrow, door.Center, door.Center.GetTranslatedPoint(v));
v.Inverse();
mazeBitmapGraphics.DrawLine(passagePenWithArrow, door.Center, door.Center.GetTranslatedPoint(v));
}
else if (door.MazeDoorType == MazeGateType.doorOneWayFromTo || door.MazeDoorType == MazeGateType.doorOneWayToFrom) //draw direction
{
bool pointsIn = Math.Abs(v.AngleBetween(new Vector2D(door.Center, door.RoomFrom.CenterPoint))) < Math.PI / 2;
if ((!pointsIn && door.MazeDoorType == MazeGateType.doorOneWayToFrom) ||
(pointsIn && door.MazeDoorType == MazeGateType.doorOneWayFromTo))
v.Inverse();
mazeBitmapGraphics.DrawLine(doorPenWithArrow, door.Center, door.Center.GetTranslatedPoint(v));
}
}
}
}
DrawStatic();
mazeGraphics.DrawImage(mazePanelBitmap, 0, 0);
}
public static double Angle(Vector2D a, Vector2D b)
{
return Math.Acos(a * b / a.Length / b.Length);
}
