/// <summary>
/// view a grid from the given file
/// </summary>
/// <param name="d3d"></param>
/// <param name="dx"></param>
/// <param name="filename">grid filename</param>
/// <param name="grid_level">the level of the grid within the grid to be viewed</param>
/// <param name="min_evidence">minimum evidence threshold</param>
public void viewOccupancyGrid(Gosub.Direct3d d3d, Microsoft.DirectX.Direct3D.Device dx,
String filename, int grid_level, int min_evidence)
{
if (!grid_loaded)
{
currentGrid = new occupancygrid(64, 100);
switch(grid_type)
{
case "914":
{
currentGrid.Load(filename);
break;
}
}
grid_loaded = true;
}
if (currentGrid != null)
{
if (grid_type=="914")
viewGrid(d3d, dx, currentGrid);
}
}
/// <summary>
/// view a grid from the given file
/// </summary>
/// <param name="d3d"></param>
/// <param name="dx"></param>
/// <param name="filename">grid filename</param>
/// <param name="grid_level">the level of the grid within the grid to be viewed</param>
/// <param name="min_evidence">minimum evidence threshold</param>
public void viewOccupancyGrid(Gosub.Direct3d d3d, Microsoft.DirectX.Direct3D.Device dx,
String filename, int grid_level, int min_evidence)
{
if (!grid_loaded)
{
currentGrid = new occupancygrid(64, 100);
switch (grid_type)
{
case "914":
{
currentGrid.Load(filename);
break;
}
}
grid_loaded = true;
}
if (currentGrid != null)
{
if (grid_type == "914")
{
viewGrid(d3d, dx, currentGrid);
}
}
}
public void viewGrid(Gosub.Direct3d d3d, Microsoft.DirectX.Direct3D.Device dx,
occupancygrid grid)
{
bool ground_plane_drawn = false;
mCellMesh = new AutoMesh(d3d, Mesh.Box(dx, 1, 1, 1));
//show the grid cells
for (int z = grid.dimension-1; z >= 0 ; z--)
{
int plane_hits = 0;
for (int x = 1; x < grid.dimension - 1; x++)
{
for (int y = 1; y < grid.dimension-1; y++)
{
if (grid.display_cell[x, y, z])
{
plane_hits++;
occupancyGridCell c = grid.cell[x, y, z];
int r = 0;
int g = 0;
int b = 255;
if (c != null)
{
r = c.colour[0];
g = c.colour[1];
b = c.colour[2];
}
dx.Transform.World = Matrix.Translation(-grid.dimension / 2, -grid.dimension / 2, -grid.dimension / 2) //Center model
//* Matrix.Scaling(1, 1, 1) // Make it bigger
//* Matrix.RotationYawPitchRoll(0, 0, 0)
* Matrix.Translation(grid.dimension - 1 - x, y, z)
* Matrix.RotationYawPitchRoll(0, tilt, 0); // Then move it where you want
dx.Material = GraphicsUtility.InitMaterial(Color.FromArgb(r, g, b));
mCellMesh.M.DrawSubset(0);
}
//for (int z = 0; z < grid.dimension; z++)
{
if (z == grid.dimension / 2)
{
if ((x == 1) || (x == grid.dimension - 2) || (y == 1) || (y == grid.dimension - 2))
{
dx.Transform.World = Matrix.Translation(-grid.dimension / 2, -grid.dimension / 2, -grid.dimension / 2) //Center model
* Matrix.Translation(x, y, z)
* Matrix.RotationYawPitchRoll(0, tilt, 0); // Then move it where you want
dx.Material = GraphicsUtility.InitMaterial(Color.Green);
mCellMesh.M.DrawSubset(0);
}
}
}
}
}
if ((plane_hits > 30) && (!ground_plane_drawn))
{
ground_plane_drawn = true;
for (int x = 1; x < grid.dimension - 1; x++)
{
for (int y = 1; y < grid.dimension - 1; y++)
{
if (grid.empty[x, y])
{
//occupancyGridCell c = grid.cell[x, y, z];
int r = 0;
int g = 0;
int b = 255;
dx.Transform.World = Matrix.Translation(-grid.dimension / 2, -grid.dimension / 2, -grid.dimension / 2) //Center model
//* Matrix.Scaling(1, 1, 1) // Make it bigger
//* Matrix.RotationYawPitchRoll(0, 0, 0)
* Matrix.Translation(grid.dimension - 1 - x, y, z)
* Matrix.RotationYawPitchRoll(0, tilt, 0); // Then move it where you want
dx.Material = GraphicsUtility.InitMaterial(Color.FromArgb(r, g, b));
mCellMesh.M.DrawSubset(0);
}
}
}
}
}
}
public void viewGrid(Gosub.Direct3d d3d, Microsoft.DirectX.Direct3D.Device dx,
occupancygrid grid)
{
bool ground_plane_drawn = false;
mCellMesh = new AutoMesh(d3d, Mesh.Box(dx, 1, 1, 1));
//show the grid cells
for (int z = grid.dimension - 1; z >= 0; z--)
{
int plane_hits = 0;
for (int x = 1; x < grid.dimension - 1; x++)
{
for (int y = 1; y < grid.dimension - 1; y++)
{
if (grid.display_cell[x, y, z])
{
plane_hits++;
occupancyGridCell c = grid.cell[x, y, z];
int r = 0;
int g = 0;
int b = 255;
if (c != null)
{
r = c.colour[0];
g = c.colour[1];
b = c.colour[2];
}
dx.Transform.World = Matrix.Translation(-grid.dimension / 2, -grid.dimension / 2, -grid.dimension / 2) //Center model
//* Matrix.Scaling(1, 1, 1) // Make it bigger
//* Matrix.RotationYawPitchRoll(0, 0, 0)
* Matrix.Translation(grid.dimension - 1 - x, y, z)
* Matrix.RotationYawPitchRoll(0, tilt, 0); // Then move it where you want
dx.Material = GraphicsUtility.InitMaterial(Color.FromArgb(r, g, b));
mCellMesh.M.DrawSubset(0);
}
//for (int z = 0; z < grid.dimension; z++)
{
if (z == grid.dimension / 2)
{
if ((x == 1) || (x == grid.dimension - 2) || (y == 1) || (y == grid.dimension - 2))
{
dx.Transform.World = Matrix.Translation(-grid.dimension / 2, -grid.dimension / 2, -grid.dimension / 2) //Center model
* Matrix.Translation(x, y, z)
* Matrix.RotationYawPitchRoll(0, tilt, 0); // Then move it where you want
dx.Material = GraphicsUtility.InitMaterial(Color.Green);
mCellMesh.M.DrawSubset(0);
}
}
}
}
}
if ((plane_hits > 30) && (!ground_plane_drawn))
{
ground_plane_drawn = true;
for (int x = 1; x < grid.dimension - 1; x++)
{
for (int y = 1; y < grid.dimension - 1; y++)
{
if (grid.empty[x, y])
{
//occupancyGridCell c = grid.cell[x, y, z];
int r = 0;
int g = 0;
int b = 255;
dx.Transform.World = Matrix.Translation(-grid.dimension / 2, -grid.dimension / 2, -grid.dimension / 2) //Center model
//* Matrix.Scaling(1, 1, 1) // Make it bigger
//* Matrix.RotationYawPitchRoll(0, 0, 0)
* Matrix.Translation(grid.dimension - 1 - x, y, z)
* Matrix.RotationYawPitchRoll(0, tilt, 0); // Then move it where you want
dx.Material = GraphicsUtility.InitMaterial(Color.FromArgb(r, g, b));
mCellMesh.M.DrawSubset(0);
}
}
}
}
}
}
