/// <summary>
/// Constructs a new Wall object by copying an existing Wall.
/// </summary>
public Wall(Wall otherWall)
{
Name = otherWall.Name;
Colored = false;
Line = new Line2D(otherWall.Line);
//set center point
Location = Line.midpoint();
Dynamic = false;
Visible = otherWall.Visible;
}
public static bool collide(Robot a, Wall b)
{
return EngineUtilities.collide(b, a);
}
public static bool collide(Wall wall, Robot robot)
{
Point2D a1 = new Point2D(wall.Line.Endpoint1);
Point2D a2 = new Point2D(wall.Line.Endpoint2);
Point2D b = new Point2D(robot.Location.X, robot.Location.Y);
if (!wall.Visible)
return false;
double rad = robot.Radius;
double r = ((b.X - a1.X) * (a2.X - a1.X) + (b.Y - a1.Y) * (a2.Y - a1.Y)) / wall.Line.squaredLength();
double px = a1.X + r * (a2.X - a1.X);
double py = a1.Y + r * (a2.Y - a1.Y);
Point2D np = new Point2D(px, py);
double rad_sq = rad * rad;
if (r >= 0.0f && r <= 1.0f)
{
if (np.squaredDistance(b) < rad_sq)
return true;
else
return false;
}
double d1 = b.squaredDistance(a1);
double d2 = b.squaredDistance(a2);
if (d1 < rad_sq || d2 < rad_sq)
return true;
else
return false;
}
//wall-wall (should never collide)
public static bool collide(Wall a, Wall b)
{
return false;
}
private void MouseMoveHandler(object sender, MouseEventArgs e)
{
if (drawMode == drawModes.selectMode)
{
if (bDragDisplay)
{
//how far has the wall been dragged?
int dx = e.X - x1;
int dy = e.Y - y1;
x1 = e.X;
y1 = e.Y;
float odx,ody;
frame.convertFromDisplayOffset((float)dx,(float)dy,out odx, out ody);
frame.X-=odx;
frame.Y-=ody;
}
if (bSelected_wall)
{
//wall-dragging code
//how far has the wall been dragged?
int dx = e.X - x1;
int dy = e.Y - y1;
x1 = e.X;
y1 = e.Y;
float odx,ody;
frame.convertFromDisplayOffset((float)dx,(float)dy,out odx, out ody);
if (selectMode == selectModes.dragMode)
{
//update wall's position
selected_wall.Line.Endpoint1.X += odx;
selected_wall.Line.Endpoint1.Y += ody;
selected_wall.Line.Endpoint2.X += odx;
selected_wall.Line.Endpoint2.Y += ody;
}
if (selectMode == selectModes.rotateMode)
{
Point2D midpoint = selected_wall.Line.midpoint();
selected_wall.Line.Endpoint1.rotate(dy / 180.0 * 3.14, midpoint);
selected_wall.Line.Endpoint2.rotate(dy / 180.0 * 3.14, midpoint);
}
if (selectMode == selectModes.scaleMode)
{
selected_wall.Line.scale(1.0 + 0.05 * dy);
}
Invalidate();
}
if (bSelected_robot)
{
//robot-dragging code
//how far has the robot been dragged?
int dx = e.X - x1;
int dy = e.Y - y1;
x1 = e.X;
y1 = e.Y;
float odx,ody;
frame.convertFromDisplayOffset((float)dx,(float)dy,out odx, out ody);
//update robot's position
if (selectMode == selectModes.dragMode)
{
selected_robot.Location.X += odx;
selected_robot.Location.Y += ody;
}
if (selectMode == selectModes.rotateMode)
{
selected_robot.Heading += (dy / 10.0);
}
if (selectMode == selectModes.scaleMode)
{
selected_robot.Radius += (dy / 2.0);
if (selected_robot.Radius < 1.0)
selected_robot.Radius = 1.0;
selected_robot.AreaOfImpact.Radius = selected_robot.Radius;
}
Invalidate();
}
}
if (drawMode == drawModes.selectMode && !bSelected_wall && !bSelected_robot)
{
selected_wall = null;
selected_robot = null;
display_snap = false;
//find snap
Point2D newpoint = new Point2D((double)e.X, (double)e.Y);
if (experiment != null)
{
if(experiment.robots!=null)
foreach (Robot robot in experiment.robots)
{
Point2D screen_location = frame.convertToDisplay(robot.Location);
if (screen_location.distance(newpoint) < 20.0)
{
display_snap = true;
snapx = (int)screen_location.X;
snapy = (int)screen_location.Y;
selected_robot = robot;
}
}
if(experiment.environment.walls!=null)
foreach (Wall wall in experiment.environment.walls)
{
Point2D screen_location = frame.convertToDisplay(wall.Location);
if (screen_location.distance(newpoint) < 20.0)
{
display_snap = true;
snapx = (int)screen_location.X;
snapy = (int)screen_location.Y;
selected_wall = wall;
}
}
int index = 0;
if (experiment.environment.walls != null)
foreach (Point p in experiment.environment.POIPosition)
{
Point2D screen_location = frame.convertToDisplay(new Point2D(p.X, p.Y));
if (screen_location.distance(newpoint) < 20.0)
{
display_snap = true;
snapx = (int)screen_location.X;
snapy = (int)screen_location.Y;
selected_POI = index;
}
index++;
}
}
Invalidate();
}
if (drawMode == drawModes.wallMode)
{
display_snap = false;
//find snap
Point2D newpoint = new Point2D((double)e.X, (double)e.Y);
foreach (Wall wall in experiment.environment.walls)
{
Point2D screen_location1 = frame.convertToDisplay(wall.Line.Endpoint1);
Point2D screen_location2 = frame.convertToDisplay(wall.Line.Endpoint2);
if (screen_location1.distance(newpoint) < 10.0)
{
display_snap = true;
snapx = (int)screen_location1.X;
snapy = (int)screen_location1.Y;
}
if (screen_location2.distance(newpoint) < 10.0)
{
display_snap = true;
snapx = (int)screen_location2.X;
snapy = (int)screen_location2.Y;
}
}
x2 = e.X;
y2 = e.Y;
Invalidate();
}
if (drawMode == drawModes.AOIMode && displayAOIRectangle)
{
float ox,oy;
frame.convertFromDisplay(e.X,e.Y,out ox,out oy);
experiment.environment.AOIRectangle = new Rectangle(experiment.environment.AOIRectangle.X,
experiment.environment.AOIRectangle.Y,(int) ox - experiment.environment.AOIRectangle.X, (int) oy - experiment.environment.AOIRectangle.Y);
Invalidate();
}
}
private void MouseUpHandler(object sender, MouseEventArgs e)
{
if (drawMode == drawModes.selectMode)
{
if (bSelected_wall && selected_wall != null)
selected_wall.Location = selected_wall.Line.midpoint();
bSelected_wall = false;
bDragDisplay = false;
bSelected_robot = false;
Invalidate();
}
if (drawMode == drawModes.wallMode)
{
x2 = e.X;
y2 = e.Y;
if (display_snap)
{
x2 = snapx;
y2 = snapy;
}
display_tempwall = false;
float ox1,oy1,ox2,oy2;
frame.convertFromDisplay((float)x1,(float)y1,out ox1, out oy1);
frame.convertFromDisplay((float)x2,(float)y2,out ox2, out oy2);
Wall new_wall = new Wall((double)ox1, (double)oy1, (double)ox2, (double)oy2, true, "");
experiment.environment.walls.Add(new_wall);
Invalidate();
}
if (drawMode == drawModes.AOIMode)
{
displayAOIRectangle = false;
}
}
//handles key down event...experiment.g. control keys like delete
private void KeyDownHandler(object sender, System.Windows.Forms.KeyEventArgs e)
{
if (drawMode == drawModes.selectMode)
{
if (e.KeyCode == Keys.W)
{
if (selected_wall != null)
{
Wall thewall = selected_wall;
//InputBoxSample.InputBoxResult result;
ObjectRenamer or = new ObjectRenamer(selected_wall.Name);
DialogResult result = or.ShowDialog(this);
//result = InputBoxSample.InputBox.Show("Name wall", "Name wall", selected_wall.name, null);
if (result == DialogResult.OK)
{
//System.Console.WriteLine(selected_wall.name);
thewall.Name = or.textBox1.Text;
}
}
}
if (e.KeyCode == Keys.D)
robot_display_debug=!robot_display_debug;
if (e.KeyCode == Keys.V)
{
if (selected_wall != null)
{
selected_wall.Visible = !selected_wall.Visible;
}
}
if (e.KeyCode == Keys.Delete)
{
if (selected_wall != null)
experiment.environment.walls.Remove(selected_wall);
selected_wall = null;
if (selected_POI != -1)
{
experiment.environment.POIPosition.RemoveAt(selected_POI);
selected_POI = -1;
}
display_snap = false;
Invalidate();
}
if (e.KeyCode == Keys.H)
{
if (drawMode == drawModes.selectMode)
{
TeamVisualizerForm netForm = null;
if (experiment is MultiAgentExperiment) //if this is a multiagentexperiment use Brain class
{
INetwork brain = experiment.agentBrain.Brain;
//INetwork brain = experiment.Brain.getBrain(selected_robot.ID);
if (brain == null) return; //TODO maybe show dialog
netForm = new TeamVisualizerForm((ModularNetwork)brain,experiment.robots.Count);
}
else
{
// TODO test with non MultiAgentExperiment
if (experiment.agentBrain.Brain == null) return;
netForm = new TeamVisualizerForm((ModularNetwork)experiment.agentBrain.Brain, experiment.robots.Count);
}
//netForm.genomeVisualizerForm = genomeVisualizerForm;
netForm.Show();
// this.selected_robot.displayPath = !this.selected_robot.displayPath;
}
}
}
}
