public void RepaintMap(Rectangle[] obstacles, Rectangle destination, Road road, List<PointF> pointsForCreatingRoad)
{
PointF[] pointCar = null;
PointF[][] detectors = null;
RepaintMap(obstacles, pointCar, detectors, destination, road, pointsForCreatingRoad);
}
private void DrawRoad(Road road, Graphics gr)
{
PointF point1 = new PointF(0, road.InterpolationPolynomialLagrandg(0));
PointF point2 = new PointF(1, road.InterpolationPolynomialLagrandg(1));
for (int i = 0; i <= WidthMap; i += 5)
{
DrawLineRoad(point1, point2, road.Width, gr);
point1 = new PointF(point2.X, point2.Y);
point2 = new PointF(i, road.InterpolationPolynomialLagrandg(i));
}
foreach (var elem in road._points)
{
DrawPointForCreatingRoad(elem, gr);
}
}
/// <summary>
/// Основной метод отрисовки
/// </summary>
/// <param name="obstacles">препятствия</param>
/// <param name="pointsCar">машина</param>
/// <param name="detectors">парковочные датчики машины</param>
/// <param name="destination">конечная точка</param>
/// <param name="road">дорога</param>
public void RepaintMap(Rectangle[] obstacles, PointF[] pointsCar, PointF[][] detectors, Rectangle destination, Road road, List<PointF> pointsForCreatingRoad)
{
Image image = new Bitmap(pbMap.Width, pbMap.Height);
Graphics next = Graphics.FromImage(image);
if (road != null)
DrawRoad(road, next);
else
{
//При отрисовке дороги эти точки тоже отрисовываются.
pointsForCreatingRoad?.ForEach(point => DrawPointForCreatingRoad(point, next));
}
if (pointsCar != null)
DrawMap(obstacles, pointsCar, detectors, destination, next);
if (destination != null)
DrawDestination(destination, next);
pbMap.Image = image;
}