private static void DessineRobot(Robot robot, Graphics g)
{
Point positionRobot = RealToScreenPosition(robot.Position.Coordonnees);
Bitmap bmpRobot = new Bitmap(Properties.Resources.Capot.Width, Properties.Resources.Capot.Height);
Graphics gGros = Graphics.FromImage(bmpRobot);
/*gGros.FillRectangle(brushTransparent, 0, 0, RealToScreenDistance(robot.Taille * 2), RealToScreenDistance(robot.Taille * 2));
gGros.FillRectangle(brushBlanc, bmpRobot.Width / 2 - RealToScreenDistance(robot.Largeur / 2), bmpRobot.Height / 2 - RealToScreenDistance(robot.Longueur / 2), RealToScreenDistance(robot.Largeur), RealToScreenDistance(robot.Longueur));
gGros.DrawRectangle(Plateau.NotreCouleur == Plateau.CouleurGaucheJaune ? penCouleurJ1R : penCouleurJ2J, bmpRobot.Width / 2 - RealToScreenDistance(robot.Largeur / 2), bmpRobot.Height / 2 - RealToScreenDistance(robot.Longueur / 2), RealToScreenDistance(robot.Largeur), RealToScreenDistance(robot.Longueur));
gGros.DrawLine(Plateau.NotreCouleur == Plateau.CouleurGaucheJaune ? penCouleurJ1R : penCouleurJ2J, bmpRobot.Width / 2, bmpRobot.Height / 2, bmpRobot.Width / 2, bmpRobot.Height / 2 - RealToScreenDistance(robot.Longueur / 2));
*/
gGros.DrawImage(Properties.Resources.Capot, 0, 0, Properties.Resources.Capot.Width, Properties.Resources.Capot.Height);
// Dessiner les actionneurs ici
if (robot == Robots.GrosRobot)
{
}
g.DrawImage(RotateImage(bmpRobot, robot.Position.Angle.AngleDegres + 90), positionRobot.X - bmpRobot.Width / 2, positionRobot.Y - bmpRobot.Height / 2);
}
private static void DessineGraph(Robot robot, Graphics g)
{
// Dessin du graph
//robot.SemGraph.WaitOne();
Pen pen = robot == Robots.GrosRobot ? penBleuFin : penBleuClairFin;
Brush brush = robot == Robots.GrosRobot ? brushBleu : brushBleuClair;
Synchronizer.Lock(robot.Graph);
// Dessin des arcs
if ((robot == Robots.GrosRobot ? AfficheGraphArretesGros : AfficheGraphArretesPetit))
foreach (Arc a in robot.Graph.Arcs)
{
if (a.Passable != false)
{
g.DrawLine(pen, RealToScreenPosition(a.StartNode.X, a.StartNode.Y), RealToScreenPosition(a.EndNode.X, a.EndNode.Y));
}
}
if ((robot == Robots.GrosRobot ? AfficheGraphGros : AfficheGraphPetit))
// Dessin des noeuds
foreach (Node n in robot.Graph.Nodes)
{
Point pointNode = RealToScreenPosition(new PointReel(n.Position.X, n.Position.Y));
g.FillEllipse(brush, new Rectangle(pointNode.X - 3, pointNode.Y - 3, 6, 6));
g.DrawEllipse(n.Passable ? penNoir : penRougeFin, new Rectangle(pointNode.X - 3, pointNode.Y - 3, 6, 6));
}
Synchronizer.Unlock(robot.Graph);
//robot.SemGraph.Release();
}
private static void DessineHistoriqueTrajectoire(Robot robot, Graphics g)
{
for (int i = 1; i < Robots.GrosRobot.HistoriqueCoordonnees.Count; i++)
{
int couleur = (int)(i * 1200 / robot.HistoriqueCoordonnees.Count * 255 / 1200);
PointReel point = RealToScreenPosition(robot.HistoriqueCoordonnees[i].Coordonnees);
PointReel pointPrec = RealToScreenPosition(robot.HistoriqueCoordonnees[i - 1].Coordonnees);
using (Pen p = new Pen(Color.FromArgb(couleur, couleur, couleur)))
{
g.DrawLine(p, (int)point.X, (int)point.Y, (int)pointPrec.X, (int)pointPrec.Y);
}
using (Brush b = new SolidBrush(Color.FromArgb(couleur, couleur, couleur)))
{
g.FillEllipse(b, (int)point.X - 3, (int)point.Y - 3, 6, 6);
g.DrawEllipse(penNoir, (int)point.X - 3, (int)point.Y - 3, 6, 6);
}
}
}
private static void DessineCoutMouvements(Robot robot, Graphics g)
{
Font police = new Font("Calibri", 8);
List<Mouvements.Mouvement> mouvements = robot == Robots.GrosRobot ? Plateau.Enchainement.ListeMouvementsGros : Plateau.Enchainement.ListeMouvementsPetit;
foreach (Mouvement m in mouvements)
{
Point point;
Point pointElement = RealToScreenPosition(m.Element.Position);
if (m.Cout != double.MaxValue && !double.IsInfinity(m.Cout))
{
Point pointProche = RealToScreenPosition(m.PositionProche.Coordonnees);
foreach (Position p in m.Positions)
{
point = RealToScreenPosition(p.Coordonnees);
if (point != pointProche)
{
g.FillEllipse(brushRouge, point.X - 2, point.Y - 2, 4, 4);
g.DrawLine(penRougePointille, point, pointElement);
}
}
g.FillEllipse(brushBlanc, pointProche.X - 2, pointProche.Y - 2, 4, 4);
g.DrawLine(penBlanc, pointProche, pointElement);
g.DrawString(Math.Round(m.Cout) + "", police, brushBlanc, pointProche);
}
else
{
if (!m.BonneCouleur())
{
foreach (Position p in m.Positions)
{
point = RealToScreenPosition(p.Coordonnees);
g.FillEllipse(brushBlancTransparent, point.X - 2, point.Y - 2, 4, 4);
g.DrawLine(penBlancTransparent, point, pointElement);
}
}
else
{
foreach (Position p in m.Positions)
{
point = RealToScreenPosition(p.Coordonnees);
g.FillEllipse(brushNoir, point.X - 2, point.Y - 2, 4, 4);
g.DrawLine(penNoirPointille, point, pointElement);
}
}
}
}
}
