public static void Draw(Action <int, bool> selectionCallback, List <int> labels, List <Point> jointLocations, Canvas mainCanvas,
BitmapImage bitmapImage, Vector drawing_translate, Vector drawing_size, Drawing drawing, Color color)
{
mainCanvas.Children.Clear();
//finding bounding box
double xmin, xmax, ymin, ymax;
List <double> Xs = new List <double>();
List <double> Ys = new List <double>();
foreach (var point in jointLocations)
{
Xs.Add(point.X);
Ys.Add(point.Y);
}
Xs.Add(drawing_translate.X);
Xs.Add(drawing_translate.X + drawing_size.X);
Ys.Add(drawing_translate.Y);
Ys.Add(drawing_translate.Y + drawing_size.Y);
if (Xs.Count == 0 || Ys.Count == 0)
{
return;
}
xmin = Xs.Min();
xmax = Xs.Max();
ymin = Ys.Min();
ymax = Ys.Max();
double width = Math.Max(mainCanvas.Width - 10, 0);
double height = Math.Max(mainCanvas.Height - 10, 0);
double marginRatio = 0.6;
double scale = Math.Min(width * (1 - marginRatio) / (xmax - xmin), height * (1 - marginRatio) / (ymax - ymin));
//Console.WriteLine(scale + " " + width + " " + height + " " + xmin + " " + xmax + " " + ymin + " " + ymax);
Vector pCenter = 0.5 * new Vector(xmax + xmin, ymax + ymin);
Vector center = 0.5 * new Vector(width + 10, height + 10);
Vector translate = center - pCenter;
Matrix matrix = Matrix.Identity;
matrix.Translate(-pCenter.X, -pCenter.Y);
matrix.Scale(scale, scale);
matrix.Translate(pCenter.X, pCenter.Y);
matrix.Translate(translate.X, translate.Y);
//Polygon robotPolygon = new Polygon();
//foreach (var point in jointChoices.Layout.RobotShape)
//{
// robotPolygon.Points.Add(point * matrix);
//}
//robotPolygon.Fill = Brushes.Azure;
//robotPolygon.Stroke = Brushes.DarkSlateGray;
//mainCanvas.Children.Add(robotPolygon);
// draw the intial shape
// foreach (var face in drawing.faces)
// {
// Polygon polygon = new Polygon();
// foreach (var point in face.points)
// {
// polygon.Points.Add(point * matrix);
// }
// polygon.Fill = new SolidColorBrush(Colors.Red);
// mainCanvas.Children.Add(polygon);
// }
Color simpleBlack = Color.FromArgb(255, 0, 0, 0);
Color darkWhite = Color.FromRgb(210, 210, 210);
Color hightlightColor = darkWhite;
Image topview = GaitSequence.getImageFromBitMap(bitmapImage, color);
topview.Height = bitmapImage.Height * scale;
topview.Width = bitmapImage.Width * scale;
Point cornerVertex = new Point(drawing_translate.X, drawing_translate.Y) * matrix;
Canvas.SetLeft(topview, cornerVertex.X);
Canvas.SetTop(topview, cornerVertex.Y);
mainCanvas.Children.Add(topview);
for (int i = 0; i < jointLocations.Count; i++)
{
var iCopy = i;
Point joint = jointLocations[i];
int label = labels[i];
Ellipse ellipse = new Ellipse();
int rad = 12;
ellipse.Width = 2 * rad;
ellipse.Height = 2 * rad;
ellipse.Fill = new SolidColorBrush(darkWhite);
ellipse.Stroke = new SolidColorBrush(Colors.Black);
ellipse.StrokeThickness = 2;
ellipse.SetValue(Canvas.TopProperty, (joint * matrix).Y - rad);
ellipse.SetValue(Canvas.LeftProperty, (joint * matrix).X - rad);
mainCanvas.Children.Add(ellipse);
if (label != 0)
{
Polygon arrowDown = new Polygon();
arrowDown.Points.Add(new Point(-5 + (joint * matrix).X, 12 + (joint * matrix).Y));
arrowDown.Points.Add(new Point(5 + (joint * matrix).X, 12 + (joint * matrix).Y));
arrowDown.Points.Add(new Point(5 + (joint * matrix).X, 22 + (joint * matrix).Y));
arrowDown.Points.Add(new Point(10 + (joint * matrix).X, 22 + (joint * matrix).Y));
arrowDown.Points.Add(new Point(0 + (joint * matrix).X, 27 + (joint * matrix).Y));
arrowDown.Points.Add(new Point(-10 + (joint * matrix).X, 22 + (joint * matrix).Y));
arrowDown.Points.Add(new Point(-5 + (joint * matrix).X, 22 + (joint * matrix).Y));
arrowDown.Fill = new SolidColorBrush(simpleBlack);
arrowDown.MouseDown += (sender, args) =>
{
selectionCallback(iCopy, false);
};
arrowDown.MouseEnter += (sender, args) =>
{
arrowDown.Fill = new SolidColorBrush(hightlightColor);
};
arrowDown.MouseLeave += (sender, args) =>
{
arrowDown.Fill = new SolidColorBrush(simpleBlack);
};
mainCanvas.Children.Add(arrowDown);
Polygon arrowUP = new Polygon();
arrowUP.Points.Add(new Point(-5 + (joint * matrix).X, -12 + (joint * matrix).Y));
arrowUP.Points.Add(new Point(5 + (joint * matrix).X, -12 + (joint * matrix).Y));
arrowUP.Points.Add(new Point(5 + (joint * matrix).X, -22 + (joint * matrix).Y));
arrowUP.Points.Add(new Point(10 + (joint * matrix).X, -22 + (joint * matrix).Y));
arrowUP.Points.Add(new Point(0 + (joint * matrix).X, -27 + (joint * matrix).Y));
arrowUP.Points.Add(new Point(-10 + (joint * matrix).X, -22 + (joint * matrix).Y));
arrowUP.Points.Add(new Point(-5 + (joint * matrix).X, -22 + (joint * matrix).Y));
arrowUP.Fill = new SolidColorBrush(simpleBlack);
arrowUP.MouseDown += (sender, args) =>
{
selectionCallback(iCopy, true);
};
arrowUP.MouseEnter += (sender, args) =>
{
arrowUP.Fill = new SolidColorBrush(hightlightColor);
};
arrowUP.MouseLeave += (sender, args) =>
{
arrowUP.Fill = new SolidColorBrush(simpleBlack);
};
mainCanvas.Children.Add(arrowUP);
Label text = new Label();
text.Content = label;
text.HorizontalContentAlignment = HorizontalAlignment.Center;
text.VerticalContentAlignment = VerticalAlignment.Center;
text.FontSize = 15;
text.Foreground = new SolidColorBrush(Colors.Black);
text.Width = 20;
text.Height = 20;
text.Padding = new Thickness(0);
text.SetValue(Canvas.TopProperty, (joint * matrix).Y - 10);
text.SetValue(Canvas.LeftProperty, (joint * matrix).X - 10);
mainCanvas.Children.Add(text);
}
}
}
private void Redraw()
{
if (mainCanvas.ActualWidth > 0)
{
if (jointLocations == null || labeling == null)
{
return;
}
mainCanvas.Children.Clear();
//finding bounding box
double xmin, xmax, ymin, ymax;
List <double> Xs = new List <double>();
List <double> Ys = new List <double>();
foreach (var point in jointLocations)
{
Xs.Add(point.X);
Ys.Add(point.Y);
}
Xs.Add(drawing_translate.X);
Xs.Add(drawing_translate.X + drawing_size.X);
Ys.Add(drawing_translate.Y);
Ys.Add(drawing_translate.Y + drawing_size.Y);
if (Xs.Count == 0 || Ys.Count == 0)
{
return;
}
xmin = Xs.Min();
xmax = Xs.Max();
ymin = Ys.Min();
ymax = Ys.Max();
double width = mainCanvas.ActualWidth - 4;
double height = mainCanvas.ActualHeight - 4;
double marginRatio = 0.1;
double scale = Math.Min(width * (1 - marginRatio) / (xmax - xmin), height * (1 - marginRatio) / (ymax - ymin));
Vector pCenter = 0.5 * new Vector(xmax + xmin, ymax + ymin);
Vector center = 0.5 * new Vector(width + 4, height + 4);
Vector translate = center - pCenter;
Matrix matrix = Matrix.Identity;
matrix.Translate(-pCenter.X, -pCenter.Y);
matrix.Scale(scale, scale);
matrix.Translate(pCenter.X, pCenter.Y);
matrix.Translate(translate.X, translate.Y);
//Polygon robotPolygon = new Polygon();
//foreach (var point in layout.RobotShape)
//{
// robotPolygon.Points.Add(point * matrix);
// }
//robotPolygon.Fill = Brushes.Azure;
//robotPolygon.Stroke = Brushes.DarkSlateGray;
//mainCanvas.Children.Add(robotPolygon);
//polygon.Fill = new SolidColorBrush(Color.FromArgb(255, 190, 190, 190));
Image topview = new Image();
topview.Source = bitmapImage;
topview.Width = bitmapImage.Width * scale;
topview.Height = bitmapImage.Height * scale;
Point cornerVertex = new Point(drawing_translate.X, drawing_translate.Y) * matrix;
Canvas.SetLeft(topview, cornerVertex.X);
Canvas.SetTop(topview, cornerVertex.Y);
mainCanvas.Children.Add(topview);
Color darkWhite = Color.FromRgb(210, 210, 210);
Color simpleBlack = Color.FromArgb(255, 80, 80, 80);
for (int i = 0; i < jointLocations.Count; i++)
{
Point joint = jointLocations[i];
int label = labeling.JointLabels[i];
Ellipse ellipse = new Ellipse();
ellipse.Width = 20;
ellipse.Height = 20;
ellipse.Fill = new SolidColorBrush(darkWhite);
ellipse.Stroke = null;
ellipse.SetValue(Canvas.TopProperty, (joint * matrix).Y - 10);
ellipse.SetValue(Canvas.LeftProperty, (joint * matrix).X - 10);
mainCanvas.Children.Add(ellipse);
double angle = labeling.JointAngles[i];
if (angle != 0)
{
GaitSequence.drawOrientationArrow(mainCanvas, (joint * matrix), (angle < 0));
}
Label text = new Label();
text.Content = label;
text.HorizontalContentAlignment = HorizontalAlignment.Center;
text.VerticalContentAlignment = VerticalAlignment.Center;
text.FontSize = 15;
text.Foreground = new SolidColorBrush(Colors.Black);
text.Width = 20;
text.Height = 20;
text.Padding = new Thickness(0);
text.SetValue(Canvas.TopProperty, (joint * matrix).Y - 10);
text.SetValue(Canvas.LeftProperty, (joint * matrix).X - 10);
if (label != 0)
{
mainCanvas.Children.Add(text);
}
}
}
}
private void Redraw()
{
if (mainCanvas.ActualWidth > 0)
{
if (jointLocations == null)
{
return;
}
mainCanvas.Children.Clear();
Color darkWhite = Color.FromRgb(210, 210, 210);
//finding bounding box
double xmin, xmax, ymin, ymax;
List <double> Xs = new List <double>();
List <double> Ys = new List <double>();
foreach (var point in jointLocations)
{
Xs.Add(point.X);
Ys.Add(point.Y);
}
Xs.Add(drawing_translate.X);
Xs.Add(drawing_translate.X + drawing_size.X);
Ys.Add(drawing_translate.Y);
Ys.Add(drawing_translate.Y + drawing_size.Y);
if (Xs.Count == 0 || Ys.Count == 0)
{
return;
}
xmin = Xs.Min();
xmax = Xs.Max();
ymin = Ys.Min();
ymax = Ys.Max();
double width = mainCanvas.ActualWidth - 4;
double height = mainCanvas.ActualHeight - 4;
double marginRatio = 0.1;
double scale = Math.Min(width * (1 - marginRatio) / (xmax - xmin), height * (1 - marginRatio) / (ymax - ymin));
Vector pCenter = 0.5 * new Vector(xmax + xmin, ymax + ymin);
Vector center = 0.5 * new Vector(width + 4, height + 4);
Vector translate = center - pCenter;
Matrix matrix = Matrix.Identity;
matrix.Translate(-pCenter.X, -pCenter.Y);
matrix.Scale(scale, scale);
matrix.Translate(pCenter.X, pCenter.Y);
matrix.Translate(translate.X, translate.Y);
//Polygon robotPolygon = new Polygon();
//foreach (var point in layout.RobotShape)
//{
// robotPolygon.Points.Add(point * matrix);
// }
//robotPolygon.Fill = Brushes.Azure;
//robotPolygon.Stroke = Brushes.DarkSlateGray;
//mainCanvas.Children.Add(robotPolygon);
Image topview = GaitSequence.getImageFromBitMap(bitmapImage, color);
topview.Width = bitmapImage.Width * scale;
topview.Height = bitmapImage.Height * scale;
Point cornerVertex = new Point(drawing_translate.X, drawing_translate.Y) * matrix;
Canvas.SetLeft(topview, cornerVertex.X);
Canvas.SetTop(topview, cornerVertex.Y);
mainCanvas.Children.Add(topview);
Color simpleBlack = Color.FromArgb(255, 100, 100, 100);
int i = jointID;
{
Point joint = jointLocations[i];
Ellipse ellipse = new Ellipse();
ellipse.Width = 20;
ellipse.Height = 20;
ellipse.Fill = new SolidColorBrush(darkWhite);
ellipse.Stroke = null;
ellipse.SetValue(Canvas.TopProperty, (joint * matrix).Y - 10);
ellipse.SetValue(Canvas.LeftProperty, (joint * matrix).X - 10);
mainCanvas.Children.Add(ellipse);
if (angle != 0)
{
GaitSequence.drawOrientationArrow(mainCanvas, (joint * matrix), (angle < 0));
}
}
}
}
