/// <summary>
/// マーカー描画
/// </summary>
/// <param name="g"></param>
/// <param name="fScale"></param>
/// <param name="robot"></param>
/// <param name="brush"></param>
/// <param name="size"></param>
static public void DrawMaker(Graphics g, float fScale, Brush brush, DrawMarkPoint robot, int size)
{
double mkX = robot.x * fScale;
double mkY = robot.y * fScale;
double mkDir = robot.theta;
DrawMaker(g, brush, mkX, mkY, mkDir, (double)size);
}
private void DrawMakerLine(Graphics g, float fScale, DrawMarkPoint robotA, DrawMarkPoint robotB, Pen pen, int size)
{
var P1 = new PointF(
(float)(robotA.x * fScale),
(float)(robotA.y * fScale));
var P2 = new PointF(
(float)(robotB.x * fScale),
(float)(robotB.y * fScale));
g.DrawLine(pen, P1, P2);
}
private void picbox_AreaMap_MouseMove(object sender, MouseEventArgs e)
{
if (e.Button == MouseButtons.Left)
{
//
if (bMouseMove)
{
viewMoveAddX = (MouseStX - e.X);
viewMoveAddY = (MouseStY - e.Y);
}
else if (selCpIndex != -1)
{
LocationSystem LocSys = BrainCtrl.LocSys;
int msPosX = (e.X - MouseStX);
int msPosY = (e.Y - MouseStY);
MarkPoint _checkPos = new MarkPoint(new DrawMarkPoint(msPosX, msPosY, 0.0), LocSys);
Vector3 baseCpPos = new Vector3((moveCpPos.x + _checkPos.x)
, (moveCpPos.y + _checkPos.y)
, 0.0);
Vector3 nowCpPos = LocSys.RTS.GetCheckPoint(selCpIndex);
if (nowCpPos != baseCpPos)
{
LocSys.RTS.SetCheckPoint(selCpIndex, baseCpPos);
}
}
}
else if (e.Button == MouseButtons.Right)
{
}
else
{
if (checkBoxCheckPointModifi.Checked)
{
//if (radioButtonPointMove.Checked && (Control.ModifierKeys & Keys.Control) == Keys.Control)
{
LocationSystem LocSys = BrainCtrl.LocSys;
DrawMarkPoint drawCenter = new DrawMarkPoint(LocSys.R1, LocSys);
// センターを左下にずらす Width x 0.1, Height x 0.1
double viewCenterX = (picbox_AreaMap.Width * 0.5) - (picbox_AreaMap.Width * 0.1);
double viewCenterY = (picbox_AreaMap.Height * 0.5) + (picbox_AreaMap.Height * 0.1);
int msPosX = e.X - (int)((-drawCenter.x + viewCenterX) - viewScrollX);
int msPosY = e.Y - (int)((-drawCenter.y + viewCenterY) - viewScrollY);
MarkPoint mouseRosPos = new MarkPoint(new DrawMarkPoint(msPosX, msPosY, 0.0), LocSys);
{
// 移動チェックポイント選択
selCpIndex = LocSys.GetCheckPointIndex(mouseRosPos.x, mouseRosPos.y);
if (selCpIndex != -1)
{
// 移動チェックポイント取得
moveCpPos = LocSys.RTS.GetCheckPoint(selCpIndex);
}
}
}
}
}
}
// -----------------------------------------------------------------
// マップスクロール
private void picbox_AreaMap_MouseDown(object sender, MouseEventArgs e)
{
if (e.Button == MouseButtons.Left /*&& selAreaMapMode == MAP_MODE.AREA_MAP*/)
{
//どの修飾子キー(Shift、Ctrl、およびAlt)が押されているか
/*
* if ((Control.ModifierKeys & Keys.Shift) == Keys.Shift)
* Console.WriteLine("Shiftキーが押されています。");
* if ((Control.ModifierKeys & Keys.Control) == Keys.Control)
* Console.WriteLine("Ctrlキーが押されています。");
* if ((Control.ModifierKeys & Keys.Alt) == Keys.Alt)
* Console.WriteLine("Altキーが押されています。");
*/
if (checkBoxCheckPointModifi.Checked)
{
LocationSystem LocSys = BrainCtrl.LocSys;
DrawMarkPoint drawCenter = new DrawMarkPoint(LocSys.R1, LocSys);
// センターを左下にずらす Width x 0.1, Height x 0.1
double viewCenterX = formDraw.GetMapWndowCenterX(picbox_AreaMap); // (picbox_AreaMap.Width * 0.5) - (picbox_AreaMap.Width * 0.1);
double viewCenterY = formDraw.GetMapWndowCenterY(picbox_AreaMap); //(picbox_AreaMap.Height * 0.5) + (picbox_AreaMap.Height * 0.1);
int msPosX = e.X - (int)((-drawCenter.x + viewCenterX) - viewScrollX);
int msPosY = e.Y - (int)((-drawCenter.y + viewCenterY) - viewScrollY);
MarkPoint mouseRosPos = new MarkPoint(new DrawMarkPoint(msPosX, msPosY, 0.0), LocSys);
if (radioButtonPointMove.Checked && (Control.ModifierKeys & Keys.Control) == Keys.Control)
{
// 移動チェックポイント選択
selCpIndex = LocSys.GetCheckPointIndex(mouseRosPos.x, mouseRosPos.y);
if (selCpIndex != -1)
{
// 移動チェックポイント取得
moveCpPos = LocSys.RTS.GetCheckPoint(selCpIndex);
}
else
{
// スクロール
bMouseMove = true;
}
}
else if (radioButtonPointAdd.Checked)
{
// チェックポイント新規追加
Vector3 baseCpPos = new Vector3(mouseRosPos.x, mouseRosPos.y, 0.0);
LocSys.RTS.AddCheckPoint((int)numericUD_CheckPoint.Value, baseCpPos);
}
else if (radioButtonPointDelete.Checked)
{
// チェックポイント削除
Vector3 baseCpPos = new Vector3(mouseRosPos.x, mouseRosPos.y, 0.0);
selCpIndex = LocSys.GetCheckPointIndex(mouseRosPos.x, mouseRosPos.y);
if (selCpIndex != -1)
{
LocSys.RTS.RemoveCheckPoint(selCpIndex);
}
selCpIndex = -1;
}
else
{
// スクロール
bMouseMove = true;
}
}
else
{
// スクロール
bMouseMove = true;
}
MouseStX = e.X;
MouseStY = e.Y;
viewMoveAddX = 0;
viewMoveAddY = 0;
}
}
static public void DrawMaker(Graphics g, Brush brush, DrawMarkPoint robot, int size = 8)
{
DrawMaker(g, 1.0f, brush, robot, size);
}
/// <summary>
/// PictureBox内へのワールドマップ描画
/// </summary>
/// <param name="g"></param>
/// <param name="CersioCt"></param>
/// <param name="BrainCtrl"></param>
public void AreaMap_Draw_WorldMap(Graphics g, PictureBox picbox_AreaMap, ref LocationSystem LocSys, int scrollX, int scrollY)
{
// 全体マップ描画
float viewScale = 1.0f;// viewScaleWorld;
MapData mapData = LocSys.mapData;
// マップ外カラー
g.FillRectangle(Brushes.DarkGray, 0, 0, picbox_AreaMap.Width, picbox_AreaMap.Height);
{
float wdAspect = (float)LocSys.mapBmp.Width / (float)worldMapBmp.Width;
float htAspect = (float)LocSys.mapBmp.Height / (float)worldMapBmp.Height;
if (wdAspect < htAspect)
{
viewScale = (float)(1.0 / htAspect);
}
else
{
viewScale = (float)(1.0 / wdAspect);
}
}
g.ResetTransform();
//g.TranslateTransform(-ctrX, -ctrY, MatrixOrder.Append);
//g.RotateTransform((float)layer.wAng, MatrixOrder.Append);
//g.ScaleTransform(viewScale, viewScale, MatrixOrder.Append);
g.TranslateTransform((float)(-scrollX),
(float)(-scrollY),
MatrixOrder.Append);
if (null != worldMapBmp)
{
g.DrawImage(worldMapBmp, 0, 0);
}
g.ResetTransform();
g.TranslateTransform((float)(-(mapData.MapOrign.x / mapData.Resolution) * viewScale) - scrollX,
(float)(-(mapData.MapOrign.y / mapData.Resolution) * viewScale) - scrollY,
MatrixOrder.Append);
//g.ResetTransform();
// 各マーカーの位置を描画
//LocSys.DrawWorldMap(g, viewScale);
DrawMaker(g, viewScale, Brushes.Red, new DrawMarkPoint(LocSys.R1, LocSys), 10);
// チェックポイント描画
{
double dir = 0;
DrawMarkPoint prvPos = new DrawMarkPoint(LocSys.R1, LocSys);
for (int i = LocSys.RTS.GetCheckPointIdx(); i < LocSys.RTS.GetNumCheckPoints(); i++)
{
Vector3 tgtPos = LocSys.RTS.GetCheckPoint(i);
//BrainCtrl.RTS.getNowTargetDir(ref dir);
DrawMarkPoint tgtMk = new DrawMarkPoint(new MarkPoint(tgtPos.x, tgtPos.y, dir), LocSys);
// ターゲットまでのライン
DrawMakerLine(g, viewScale, prvPos, tgtMk, Pens.Olive, 1);
g.DrawString(i.ToString("D2"), fntMini, Brushes.Green, (int)(tgtMk.x * viewScale), (int)(tgtMk.y * viewScale));
prvPos.x = tgtMk.x;
prvPos.y = tgtMk.y;
}
}
}
/*
* /// <summary>
* /// エリアマップ生成
* /// </summary>
* /// <param name="worldBMP"></param>
* /// <param name="picbox_AreaMap"></param>
* /// <returns></returns>
* public Bitmap MakePictureBoxAreaMap(Bitmap worldBMP, PictureBox picbox_AreaMap, ref LocationSystem LocSys, int scrollX, int scrollY)
* {
* {
* //int picW = (int)(viewScale * worldBMP.Width + 0.5);
* //int picH = (int)(viewScale * worldBMP.Height + 0.5);
*
* areaMapBmp = new Bitmap(picbox_AreaMap.Width, picbox_AreaMap.Height);
* Graphics g = Graphics.FromImage(areaMapBmp);
*
* DrawMarkPoint drawCenter = new DrawMarkPoint(LocSys.R1, LocSys);
*
* g.ResetTransform();
* g.TranslateTransform( (float)(-drawCenter.x - (worldBMP.Width * 0.5) + (picbox_AreaMap.Width*0.5)) - scrollX,
* (float)(-drawCenter.y - (worldBMP.Height * 0.5) + (picbox_AreaMap.Height * 0.5)) - scrollY,
* MatrixOrder.Append);
* //g.RotateTransform((float)layer.wAng, MatrixOrder.Append);
* //g.ScaleTransform(viewScale, viewScale, MatrixOrder.Append);
*
* g.DrawImage(worldBMP, 0, 0);
*
* g.Dispose();
* }
*
* return areaMapBmp;
* }
*/
/// <summary>
/// PictureBox内へのマップ描画(等倍)
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
public void AreaMap_Draw_Area(Graphics g, PictureBox picbox_AreaMap, ref LocationSystem LocSys, int scrollX, int scrollY, int selCpIndex, bool bHandleTarget)
{
Bitmap worldBMP = LocSys.mapBmp;
MapData mapData = LocSys.mapData;
//Bitmap areaBMP = MakePictureBoxAreaMap(worldBMP, picbox_AreaMap, ref LocSys, scrollX, scrollY);
//float viewScale = 1.0f;
DrawMarkPoint drawCenter = new DrawMarkPoint(LocSys.R1, LocSys);
// センターを左下にずらす Width x 0.1, Height x 0.1
double viewCenterX = GetMapWndowCenterX(picbox_AreaMap); // (picbox_AreaMap.Width * 0.5) - (picbox_AreaMap.Width * 0.1);
double viewCenterY = GetMapWndowCenterY(picbox_AreaMap); //(picbox_AreaMa.pHeight * 0.5) + (picbox_AreaMap.Height * 0.1);
// エリアマップ描画
g.ResetTransform();
g.TranslateTransform((float)(-drawCenter.x + (mapData.MapOrign.x / mapData.Resolution) + viewCenterX) - scrollX,
(float)(-drawCenter.y + (mapData.MapOrign.y / mapData.Resolution) + viewCenterY) - scrollY,
MatrixOrder.Append);
//g.RotateTransform((float)layer.wAng, MatrixOrder.Append);
//g.ScaleTransform(1.0f, -1.0f, MatrixOrder.Append);
g.InterpolationMode = InterpolationMode.NearestNeighbor;
g.DrawImage(worldBMP, 0, 0);
// ------------------------
g.ResetTransform();
g.TranslateTransform((float)(-drawCenter.x + viewCenterX) - scrollX,
(float)(-drawCenter.y + viewCenterY) - scrollY,
MatrixOrder.Append);
//g.ScaleTransform(1.0f, -1.0f, MatrixOrder.Append);
// 現在位置描画
DrawMaker(g, Brushes.Red, new DrawMarkPoint(LocSys.R1, LocSys), 8);
// チェックポイント描画
{
double prvPosX = LocSys.R1.x;
double prvPosY = LocSys.R1.y;
for (int i = LocSys.RTS.GetCheckPointIdx(); i < LocSys.RTS.GetNumCheckPoints(); i++)
{
//Vector3 checkPnt = LocSys.RTS.GetCheckPoint(i);
Vector3 checkPnt = LocSys.RTS.GetCheckPointToWayPoint(i);
//BrainCtrl.RTS.getNowTargetDir(ref dir);
DrawMarkPoint checkPntMk = new DrawMarkPoint(new MarkPoint(checkPnt.x, checkPnt.y, 0.0), LocSys);
checkPntMk.theta = -checkPnt.z;
if (selCpIndex == i)
{
// 選択中のチェックポイント
DrawMaker(g, Brushes.Purple, checkPntMk, 8);
}
else
{
DrawMaker(g, Brushes.GreenYellow, checkPntMk, 8);
}
// ターゲットまでのライン
DrawMakerLine(g, 1.0f,
new DrawMarkPoint(new MarkPoint(prvPosX, prvPosY, 0), LocSys),
checkPntMk,
Pens.Olive, 1);
g.DrawString(i.ToString("D2"), fntMini, Brushes.Green, checkPntMk.x, checkPntMk.y);
prvPosX = checkPnt.x;
prvPosY = checkPnt.y;
}
}
// ターゲット描画(ハンドル操作がVRの場合)
if (bHandleTarget)
{
Vector3 nowtgtPos = LocSys.RTS.GetNowTargetPositon();
DrawMarkPoint tgtMk = new DrawMarkPoint(new MarkPoint(nowtgtPos.x, nowtgtPos.y, 0.0), LocSys);
DrawMakerNoDir(g, Brushes.DeepPink, tgtMk, 6);
// ターゲットまでのライン
DrawMakerLine(g, 1.0f,
new DrawMarkPoint(LocSys.R1, LocSys),
tgtMk,
Pens.DeepPink, 1);
}
}
static public void DrawMakerNoDir(Graphics g, Brush brush, DrawMarkPoint robot, int size = 8)
{
DrawMakerNoDir(g, brush, robot.x, robot.y, size);
}
