private void DrawPath(double xstep, double ystep)
{
if (Data.nav.fullPath.Count>0)
{
foreach (NodeConnection nc in Data.nav.fullPath)
{
Arrow arr = new Arrow();
Point N1, N2;
N1 = getCanvasCoordinates(nc.From, xstep, ystep);
N2 = getCanvasCoordinates(nc.To, xstep, ystep);
double CPExtension = marginlarge - marginsmall-controlpointsize/2-1;
if (nc.ToPoint)
{
if (nc.To.X == Data.M-1)
{
N2.X += CPExtension;
}
else if (nc.To.X == 0)
{
N2.X -= CPExtension;
}
else if (nc.To.Y == 0)
{
N2.Y -= CPExtension;
}
else if (nc.To.Y == Data.N-1)
{
N2.Y += CPExtension;
}
}
else if (nc.FromPoint)
{
if (nc.From.X == Data.M-1)
{
N1.X += CPExtension;
}
else if (nc.From.X == 0)
{
N1.X -= CPExtension;
}
else if (nc.From.Y == 0)
{
N1.Y -= CPExtension;
}
else if (nc.From.Y == Data.N-1)
{
N1.Y += CPExtension;
}
}
arr.X1 = N1.X;
arr.X2 = N2.X;
arr.Y1 = c.ActualHeight - N1.Y;
arr.Y2 = c.ActualHeight - N2.Y;
arr.Stroke = pathBrush;
arr.StrokeEndLineCap = PenLineCap.Round;
arr.HeadHeight = pathArrowHeadHeight;
arr.HeadWidth = pathArrowHeadWidth;
arr.StrokeThickness = pathArrowThickness;
arr.IsHitTestVisible = false;
c.Children.Add(arr);
}
}
}
private void DrawCurrentPosition(double xstep, double ystep)
{
if (Data.nav.currentPos.To != Data.nav.currentPos.From || (Data.nav.currentPos.ToPoint || Data.nav.currentPos.FromPoint))
{
Arrow arr = new Arrow();
Point N1 = getCanvasCoordinates(Data.nav.currentPos.From, xstep, ystep);
Point N2 = getCanvasCoordinates(Data.nav.currentPos.To, xstep, ystep);
double CPExtension = (marginlarge - marginsmall - controlpointsize / 2 -1) ;
if (Data.nav.currentPos.ToPoint && !Data.ctr.Halfway)
{
if (Data.nav.currentPos.To.X == Data.M - 1)
{
N2.X += CPExtension;
}
else if (Data.nav.currentPos.To.X == 0)
{
N2.X -= CPExtension;
}
else if (Data.nav.currentPos.To.Y == 0)
{
N2.Y -= CPExtension;
}
else if (Data.nav.currentPos.To.Y == Data.N - 1)
{
N2.Y += CPExtension;
}
arr.X1 = N1.X;
arr.X2 = N2.X;
arr.Y1 = c.ActualHeight - N1.Y;
arr.Y2 = c.ActualHeight - N2.Y;
}
else if (Data.nav.currentPos.FromPoint)
{
if (Data.nav.currentPos.From.X == Data.M - 1)
{
N1.X += CPExtension;
}
else if (Data.nav.currentPos.From.X == 0)
{
N1.X -= CPExtension;
}
else if (Data.nav.currentPos.From.Y == 0)
{
N1.Y -= CPExtension;
}
else if (Data.nav.currentPos.From.Y == Data.N - 1)
{
N1.Y += CPExtension;
}
arr.X1 = N1.X;
arr.X2 = N2.X;
arr.Y1 = c.ActualHeight - N1.Y;
arr.Y2 = c.ActualHeight - N2.Y;
}
else
{
int M1, M2;
if (Data.ctr.Halfway)
{
M1 = 1;
M2 = 0;
}
else
{
M1 = 2;
M2 = 1;
}
if (Data.ctr.RobotDirection == Direction.Left)
{
arr.X1 = N2.X + xstep * currentPosArrowLength * M1;
arr.X2 = N2.X + xstep * currentPosArrowLength * M2;
arr.Y1 = arr.Y2 = c.ActualHeight - N2.Y;
}
else if (Data.ctr.RobotDirection == Direction.Right)
{
arr.X1 = N2.X - xstep * currentPosArrowLength * M1;
arr.X2 = N2.X - xstep * currentPosArrowLength * M2;
arr.Y1 = arr.Y2 = c.ActualHeight - N2.Y;
}
else if (Data.ctr.RobotDirection == Direction.Up)
{
arr.Y1 = c.ActualHeight - N2.Y + ystep * currentPosArrowLength * M1;
arr.Y2 = c.ActualHeight - N2.Y + ystep * currentPosArrowLength * M2;
arr.X1 = arr.X2 = N2.X;
}
else if (Data.ctr.RobotDirection == Direction.Down)
{
arr.Y1 = c.ActualHeight - N2.Y - ystep * currentPosArrowLength * M1;
arr.Y2 = c.ActualHeight - N2.Y - ystep * currentPosArrowLength * M2;
arr.X1 = arr.X2 = N2.X;
}
else
{
return;
}
}
arr.Stroke = currentPosBrush;
arr.StrokeEndLineCap = PenLineCap.Round;
arr.HeadHeight = currentPosArrowHeadHeight;
arr.HeadWidth = currentPosArrowHeadWidth;
arr.StrokeThickness = currentPosArrowThickness;
arr.IsHitTestVisible = false;
c.Children.Add(arr);
}
}
