public SlamVisualizer(Game game, SpriteRenderer renderer, SlamController controller, NavigationEnvironment environment)
{
font = game.Content.Load <SpriteFont>("DebugFont");
var textureColor = new Color(255, 255, 255, 100);
var strokeColor = new Color(0, 0, 0, 100);
covarianceTexture = TextureFactory.CreateCircleTexture(game.GraphicsDevice, 1000, 20, 5, 5, textureColor, strokeColor);
elements = new List <SlamElement>();
this.controller = controller;
this.renderer = renderer;
this.environment = environment;
}
static void ActivateMarker(ActionPlayer player, Vehicle vehicle, NavigationEnvironment environment, SlamController slam, SmartObject landmark, IServiceProvider provider)
{
var task = landmark.Task;
if (task == null)
{
return;
}
var markerPosition = slam.GetLandmarkPosition(landmark.MarkerId);
if (markerPosition == null)
{
return;
}
var markerTransform = new Transform2D(markerPosition.Value, 0, Vector2.One);
var serviceProvider = new ServiceContainer(provider);
serviceProvider.AddService(typeof(Transform2D), markerTransform);
serviceProvider.AddService(typeof(Vehicle), vehicle);
player.PlayAction(task, serviceProvider);
}
static void ActivateMarker(ActionPlayer player, Vehicle vehicle, NavigationEnvironment environment, SlamController slam, int markerId, IServiceProvider provider)
{
var smartObject = environment.Landmarks.FirstOrDefault(landmark => landmark.MarkerId == markerId);
if (smartObject == null)
{
return;
}
ActivateMarker(player, vehicle, environment, slam, smartObject, provider);
}