public static void DrawGrid(int gridStep, WorldTransform w, bool drawRadii, Color lineColor, Color textColor, Color radiiColor)
{
GLUtility.DisableNiceLines();
for (int i = (int)w.WorldLowerLeft.Y; i < w.WorldUpperRight.Y; i++)
{
if (i % gridStep == 0)
{
GLUtility.DrawLine(new GLPen(lineColor, 1.0f), (float)w.WorldLowerLeft.X, i, (float)w.WorldUpperRight.X, i);
GLUtility.DrawString(i.ToString() + "m", new Font("verdana", 1), textColor, new PointF(0, i + .25f));
}
}
for (int i = (int)w.WorldLowerLeft.X; i < w.WorldUpperRight.X; i++)
{
if (i % gridStep == 0)
{
GLUtility.DrawLine(new GLPen(lineColor, 1.0f), i, (float)w.WorldLowerLeft.Y, i, (float)w.WorldUpperRight.Y);
GLUtility.DrawString(i.ToString() + "m", new Font("verdana", 1), textColor, new PointF(i, (float)(w.WorldUpperRight.Y - w.WorldLowerLeft.Y) / 2.0f));
}
}
if (drawRadii)
{
RectangleF r = new RectangleF(new PointF(-gridStep, -gridStep), new SizeF(gridStep * 2.0f, gridStep * 2.0f));
for (int i = 0; i < 20; i++)
{
r.Inflate(gridStep, gridStep);
GLUtility.DrawEllipse(new GLPen(radiiColor, 1), r);
}
}
GLUtility.EnableNiceLines();
}
public static void DrawGrid3D(int gridStep, WorldTransform w, float z, Color lineColor, Color textColor, Color radiiColor)
{
GLUtility.DisableNiceLines();
GLPen pen = new GLPen(lineColor, 1.0f);
pen.GLApplyPen();
Gl.glBegin(Gl.GL_LINES);
for (int i = (int)w.WorldLowerLeft.Y; i < w.WorldUpperRight.Y; i++)
{
if (i % gridStep == 0)
{
Gl.glVertex3f((float)w.WorldLowerLeft.X, i, z);
Gl.glVertex3f((float)w.WorldUpperRight.X, i, z);
//GLUtility.DrawString(i.ToString() + "m", new Font("verdana", 1), textColor, new PointF(0, i + .25f));
}
}
for (int i = (int)w.WorldLowerLeft.X; i < w.WorldUpperRight.X; i++)
{
if (i % gridStep == 0)
{
Gl.glVertex3f(i, (float)w.WorldLowerLeft.Y, z);
Gl.glVertex3f(i, (float)w.WorldUpperRight.Y, z);
//GLUtility.DrawString(i.ToString() + "m", new Font("verdana", 1), textColor, new PointF(i, (float)(w.WorldUpperRight.Y - w.WorldLowerLeft.Y) / 2.0f));
}
}
Gl.glEnd();
GLUtility.EnableNiceLines();
}
public static void DrawBox(PointF p, float h, float width, float length, string label, bool rotate90, DrawRef drawRef, Color color)
{
GLUtility.GoToVehicleCoordinates(h, p, rotate90);
RectangleF r = new RectangleF();
if (drawRef == DrawRef.RearAxle)
{
r = new RectangleF(-width / 2, 0, width, length);
}
else if (drawRef == DrawRef.Center)
{
r = new RectangleF(-width / 2, -length / 2, width, length);
}
else if (drawRef == DrawRef.BottomCorner)
{
r = new RectangleF(0, 0, width, length);
}
GLPen pen = new GLPen(color, 1.0f);
GLUtility.DrawRectangle(pen, r);
GLUtility.DrawLine(pen, r.Left + 0.2f, r.Bottom - r.Width / 2, r.Left + r.Width / 2, r.Bottom - .2f);
GLUtility.DrawLine(pen, r.Right - 0.2f, r.Bottom - r.Width / 2, r.Right - r.Width / 2, r.Bottom - .2f);
if (label != "")
{
GLUtility.DrawString(label, new Font("verdana", 1.0f), Color.Black, r.Location);
}
GLUtility.ComeBackFromVehicleCoordinates();
}
public static void DrawCircle(GLPen p, PointF center, float radius)
{
p.GLApplyPen();
Gl.glPushMatrix();
Gl.glTranslatef(center.X, center.Y, 0);
GLUtility.DrawEllipse(p, new RectangleF(-radius, -radius, radius * 2, radius * 2));
Gl.glPopMatrix();
}
public static void DrawCluster(PointF p, float h, float width, string label, bool rotate90)
{
GLUtility.GoToVehicleCoordinates(h, p, rotate90);
GLPen pen = new GLPen(Color.Blue, 1.0f);
GLUtility.DrawLine(pen, -width / 2, 0, width / 2, 0);
GLUtility.DrawLine(pen, 0, .1f, 0, -.1f);
if (label != "")
{
GLUtility.DrawString(label, new Font("verdana", 1.0f), Color.Black, new PointF(0, 0));
}
GLUtility.ComeBackFromVehicleCoordinates();
}
/* public static void DrawCar(PointF rearAxle, float h, int txid)
* {
*
* //the rear axle point is just the center of the car in x and the rear of the car in y
* PointF carPoint = new PointF(rearAxle.X - (carWidth / 2), rearAxle.Y);
* GLUtility.GoToVehicleCoordinates(h, carPoint);
* RectangleF r = new RectangleF(0, 0, carWidth, carHeight);
* GLPen pen = new GLPen(Color.LightBlue, 1.0f);
* GLUtility.FillTexturedRectangle(txid, r);
* GLUtility.ComeBackFromVehicleCoordinates();
* }
*/
//0 degree heading means positive X and means EAST
public static void DrawCar(PointF rearAxle, float h, Color color, string label, bool rotate90, Color labelColor)
{
float carWidth = (float)TahoeParams.T;
float carIMUtoFront = (float)(TahoeParams.FL - TahoeParams.IL);
float carHeight = (float)TahoeParams.VL;
//the rear axle point is just the center of the car in x and the rear of the car in y
PointF IMU = new PointF(rearAxle.X, rearAxle.Y);
GLUtility.GoToVehicleCoordinates(h, IMU, rotate90);
RectangleF r = new RectangleF(-carWidth / 2, carIMUtoFront - carHeight, carWidth, carHeight);
GLPen pen = new GLPen(color, 1.0f);
GLUtility.DrawRectangle(pen, r);
GLUtility.DrawLine(pen, r.Left + 0.2f, r.Bottom - r.Width / 2, r.Left + r.Width / 2, r.Bottom - .2f);
GLUtility.DrawLine(pen, r.Right - 0.2f, r.Bottom - r.Width / 2, r.Right - r.Width / 2, r.Bottom - .2f);
if (label != "")
{
GLUtility.DrawString(label, new Font("verdana", 1.0f), labelColor, new PointF(+.20f, 0));
}
GLUtility.DrawCross(new GLPen(Color.Pink, 1.0f), new PointF(0, 0), r.Width / 2);
GLUtility.ComeBackFromVehicleCoordinates();
}
