internal static void DrawCircle(GLPen circPen, Vector2 vector2, float p) { DrawCircle(circPen, vector2.ToPointF(), p); }
public static void DrawPointList(GLPen pen, List<Vector3> pts) { DrawPointList(pen, pts, false); }
public static void DrawRectangle(GLPen pen, RectangleF rect) { PointF p1 = new PointF (rect.Left, rect.Top); PointF p2 = new PointF (rect.Right, rect.Top); PointF p3 = new PointF(rect.Right, rect.Bottom); PointF p4 = new PointF(rect.Left, rect.Bottom); pen.GLApplyPen(); Gl.glBegin(Gl.GL_LINE_LOOP); Gl.glVertex2f(p1.X, p1.Y); Gl.glVertex2f(p2.X, p2.Y); Gl.glVertex2f(p3.X, p3.Y); Gl.glVertex2f(p4.X, p4.Y); Gl.glEnd(); }
public static void DrawLines(GLPen pen, Vector2[] points) { pen.GLApplyPen(); Gl.glBegin(Gl.GL_LINE_STRIP); foreach (Vector2 p in points) Gl.glVertex2d(p.X, p.Y); Gl.glEnd(); }
public static void DrawPoint(GLPen pen, Vector2 p, bool ApplyPen) { if (ApplyPen) pen.GLApplyPen(); Gl.glBegin(Gl.GL_POINT); Gl.glVertex2f((float)p.X, (float)p.Y); Gl.glEnd(); }
public static void DrawLine(GLPen pen, float x1, float y1, float x2, float y2) { DrawLine(pen, new PointF(x1, y1), new PointF(x2, y2)); }
public static void DrawLine3D(GLPen pen, Vector3 a, Vector3 b) { pen.GLApplyPen(); Gl.glBegin(Gl.GL_LINES); Gl.glVertex3d(a.X, a.Y, a.Z); Gl.glVertex3d(b.X, b.Y, b.Z); Gl.glEnd(); }
public static void DrawCircle(GLPen p, PointF center, float radius) { p.GLApplyPen(); Gl.glPushMatrix(); Gl.glTranslatef(center.X, center.Y, 0); GLUtility.DrawEllipse(p, new RectangleF(-radius, -radius, radius * 2, radius*2)); Gl.glPopMatrix(); }
public static void DrawCircle(GLPen p, PointF center, float radius, double thetaStart, double thetaEnd ) { p.GLApplyPen(); Gl.glPushMatrix(); Gl.glTranslatef(center.X, center.Y, 0); RectangleF rect = new RectangleF(-radius, -radius, radius * 2, radius * 2); Gl.glPushMatrix(); Gl.glTranslatef(rect.Left+rect.Width /2, rect.Top + rect.Height /2 , 0); Gl.glBegin(Gl.GL_LINE_STRIP); if (thetaStart < thetaEnd) { for (double i = thetaStart; i < thetaEnd; i += 0.05) Gl.glVertex2f((float)(Math.Cos(i) * rect.Width / 2), (float)(Math.Sin(i) * rect.Height / 2)); } Gl.glEnd(); Gl.glPopMatrix(); Gl.glPopMatrix(); }
public static void DrawBox(PointF p, float h, float width, float length, string label, bool rotate90, DrawRef drawRef, Color color) { GLUtility.GoToVehicleCoordinates(h, p, rotate90); RectangleF r = new RectangleF(); if (drawRef == DrawRef.RearAxle) r = new RectangleF(-width / 2, 0, width, length); else if (drawRef == DrawRef.Center) r = new RectangleF(-width / 2, -length / 2, width, length); else if (drawRef == DrawRef.BottomCorner) r = new RectangleF(0, 0, width, length); GLPen pen = new GLPen(color, 1.0f); GLUtility.DrawRectangle(pen, r); GLUtility.DrawLine(pen, r.Left + 0.2f, r.Bottom - r.Width / 2, r.Left + r.Width / 2, r.Bottom - .2f); GLUtility.DrawLine(pen, r.Right - 0.2f, r.Bottom - r.Width / 2, r.Right - r.Width / 2, r.Bottom - .2f); if (label != "") GLUtility.DrawString(label, new Font("verdana", 1.0f), Color.Black, r.Location); GLUtility.ComeBackFromVehicleCoordinates(); }
/* public static void DrawCar(PointF rearAxle, float h, int txid) { //the rear axle point is just the center of the car in x and the rear of the car in y PointF carPoint = new PointF(rearAxle.X - (carWidth / 2), rearAxle.Y); GLUtility.GoToVehicleCoordinates(h, carPoint); RectangleF r = new RectangleF(0, 0, carWidth, carHeight); GLPen pen = new GLPen(Color.LightBlue, 1.0f); GLUtility.FillTexturedRectangle(txid, r); GLUtility.ComeBackFromVehicleCoordinates(); } */ //0 degree heading means positive X and means EAST public static void DrawCar(PointF rearAxle, float h, Color color, string label, bool rotate90, Color labelColor, float width, float centerpointToFront, float height) { float carWidth = width; float carIMUtoFront = centerpointToFront; float carHeight = height; //the rear axle point is just the center of the car in x and the rear of the car in y PointF IMU = new PointF (rearAxle.X,rearAxle.Y); GLUtility.GoToVehicleCoordinates(h, IMU,rotate90); RectangleF r = new RectangleF(-carWidth / 2, carIMUtoFront - carHeight, carWidth, carHeight); GLPen pen = new GLPen(color, 1.0f); GLUtility.DrawRectangle(pen, r); GLUtility.DrawLine(pen, r.Left + 0.2f, r.Bottom - r.Width / 2, r.Left + r.Width / 2, r.Bottom - .2f); GLUtility.DrawLine(pen, r.Right - 0.2f, r.Bottom - r.Width / 2, r.Right - r.Width / 2, r.Bottom - .2f); if (label != "") GLUtility.DrawString(label, new Font("verdana", 1.0f), labelColor, new PointF(+.20f, 0)); GLUtility.DrawCross(new GLPen (Color.Pink,1.0f), new Vector2(0, 0), r.Width / 2); GLUtility.ComeBackFromVehicleCoordinates(); }
public static void DrawBezier(GLPen pen, Vector2 startP, Vector2 ctrl1, Vector2 ctrl2, Vector2 endP) { CubicBezier cb = new CubicBezier(startP, ctrl1, ctrl2, endP); pen.GLApplyPen(); Gl.glBegin(Gl.GL_LINE_STRIP); //iterate this bitch for (double i = 0; i < 1.0; i += .025) { Vector2 p = (cb.Bt(i)); Gl.glVertex2f((float)p.X, (float)p.Y); } Vector2 p1 = (cb.Bt(1)); Gl.glVertex2f((float)p1.X, (float)p1.Y); Gl.glEnd(); }
public static void Draw3DRectangle(GLPen pen, Vector3 bl, Vector3 br, Vector3 tl, Vector3 tr) { pen.GLApplyPen(); Gl.glShadeModel(Gl.GL_SMOOTH); //Gl.glColor4ub(color.R, color.G, color.B, color.A); Gl.glBegin(Gl.GL_QUADS); Gl.glVertex3f((float)tl.X, (float)tl.Y, (float)tl.Z); Gl.glVertex3f((float)tr.X, (float)tr.Y, (float)tr.Z); Gl.glVertex3f((float)br.X, (float)br.Y, (float)br.Z); Gl.glVertex3f((float)bl.X, (float)bl.Y, (float)bl.Z); Gl.glEnd(); }
internal static void DrawLine(GLPen pen, PointF p1, PointF p2) { DrawLine(pen, Vector2.FromPointF(p1), Vector2.FromPointF(p2)); }
public static void DrawEllipse(GLPen p, Vector2 firstPoint, Vector2 secondPoint, Vector2 thirdPoint) { float height = (float)firstPoint.DistanceTo(thirdPoint); DrawEllipse(p, firstPoint, secondPoint, height); //Vector2 delta = new Vector2(secondPDFPoint.X - firstPDFPoint.X, secondPDFPoint.Y - firstPDFPoint.Y); //double thirdPointAngle = delta.ToRadians(); //thirdPDFPoint = new Vector2(mu.X + Math.Sin(thirdPointAngle) * height2, mu.Y - Math.Cos(thirdPointAngle) * height2); }
public static void DrawCluster(PointF p, float h, float width, string label, bool rotate90) { GLUtility.GoToVehicleCoordinates(h, p, rotate90); GLPen pen = new GLPen(Color.Blue, 1.0f); GLUtility.DrawLine(pen,-width/2,0,width/2,0); GLUtility.DrawLine(pen, 0, .1f, 0, -.1f); if (label != "") GLUtility.DrawString(label, new Font("verdana", 1.0f), Color.Black, new PointF(0,0)); GLUtility.ComeBackFromVehicleCoordinates(); }
public static void DrawGrid3D(int gridStep, WorldTransform w, float z, Color lineColor, Color textColor, Color radiiColor) { GLUtility.DisableNiceLines(); GLPen pen = new GLPen(lineColor, 1.0f); pen.GLApplyPen(); Gl.glBegin(Gl.GL_LINES); for (int i = (int)w.WorldLowerLeft.Y; i < w.WorldUpperRight.Y; i++) { if (i % gridStep == 0) { Gl.glVertex3f((float)w.WorldLowerLeft.X, i, z); Gl.glVertex3f((float)w.WorldUpperRight.X, i, z); //GLUtility.DrawString(i.ToString() + "m", new Font("verdana", 1), textColor, new PointF(0, i + .25f)); } } for (int i = (int)w.WorldLowerLeft.X; i < w.WorldUpperRight.X; i++) { if (i % gridStep == 0) { Gl.glVertex3f(i,(float)w.WorldLowerLeft.Y,z); Gl.glVertex3f(i, (float)w.WorldUpperRight.Y, z); //GLUtility.DrawString(i.ToString() + "m", new Font("verdana", 1), textColor, new PointF(i, (float)(w.WorldUpperRight.Y - w.WorldLowerLeft.Y) / 2.0f)); } } Gl.glEnd(); GLUtility.EnableNiceLines(); }
public static void DrawCross3D(GLPen pen, Vector3 p, float size) { pen.GLApplyPen(); Gl.glBegin(Gl.GL_LINES); Gl.glVertex3d(p.X + size, p.Y, p.Z); Gl.glVertex3d(p.X - size, p.Y, p.Z); Gl.glVertex3d(p.X, p.Y + size, p.Z); Gl.glVertex3d(p.X, p.Y - size, p.Z); Gl.glVertex3d(p.X, p.Y, p.Z + size); Gl.glVertex3d(p.X, p.Y, p.Z - size); Gl.glEnd(); }
public static void DrawLine(GLPen pen, Vector2 p1, Vector2 p2) { pen.GLApplyPen(); Gl.glBegin(Gl.GL_LINE_STRIP); Gl.glVertex2f((float)p1.X, (float)p1.Y); Gl.glVertex2f((float)p2.X, (float)p2.Y); Gl.glEnd(); }
public static void DrawCube(GLPen pen, Vector3 p, float size) { pen.GLApplyPen(); Gl.glPushMatrix(); Gl.glTranslated(p.X, p.Y, p.Z); Gl.glScalef(size, size, size); Gl.glBegin(Gl.GL_QUADS); // Front Face Gl.glNormal3f(0.0f, 0.0f, 1.0f); Gl.glVertex3f(-1.0f, -1.0f, 1.0f); Gl.glVertex3f(1.0f, -1.0f, 1.0f); Gl.glVertex3f(1.0f, 1.0f, 1.0f); Gl.glVertex3f(-1.0f, 1.0f, 1.0f); // Back Face Gl.glNormal3f(0.0f, 0.0f, -1.0f); Gl.glVertex3f(-1.0f, -1.0f, -1.0f); Gl.glVertex3f(-1.0f, 1.0f, -1.0f); Gl.glVertex3f(1.0f, 1.0f, -1.0f); Gl.glVertex3f(1.0f, -1.0f, -1.0f); // Top Face Gl.glNormal3f(0.0f, 1.0f, 0.0f); Gl.glVertex3f(-1.0f, 1.0f, -1.0f); Gl.glVertex3f(-1.0f, 1.0f, 1.0f); Gl.glVertex3f(1.0f, 1.0f, 1.0f); Gl.glVertex3f(1.0f, 1.0f, -1.0f); // Bottom Face Gl.glNormal3f(0.0f, -1.0f, 0.0f); Gl.glVertex3f(-1.0f, -1.0f, -1.0f); Gl.glVertex3f(1.0f, -1.0f, -1.0f); Gl.glVertex3f(1.0f, -1.0f, 1.0f); Gl.glVertex3f(-1.0f, -1.0f, 1.0f); // Right face Gl.glNormal3f(1.0f, 0.0f, 0.0f); Gl.glVertex3f(1.0f, -1.0f, -1.0f); Gl.glVertex3f(1.0f, 1.0f, -1.0f); Gl.glVertex3f(1.0f, 1.0f, 1.0f); Gl.glVertex3f(1.0f, -1.0f, 1.0f); // Left Face Gl.glNormal3f(-1.0f, 0.0f, 0.0f); Gl.glVertex3f(-1.0f, -1.0f, -1.0f); Gl.glVertex3f(-1.0f, -1.0f, 1.0f); Gl.glVertex3f(-1.0f, 1.0f, 1.0f); Gl.glVertex3f(-1.0f, 1.0f, -1.0f); Gl.glEnd(); Gl.glPopMatrix(); }
public static void DrawLine3D(GLPen pen, float aX, float aY, float aZ, float bX, float bY, float bZ) { pen.GLApplyPen(); Gl.glBegin(Gl.GL_LINES); Gl.glVertex3f(aX, aY, aZ); Gl.glVertex3f(bX, bY, bZ); Gl.glEnd(); }
public static void DrawDiamond(GLPen pen, Vector2 p, float size) { Vector2 p1 = new Vector2(p.X, p.Y + size / 2.0f); Vector2 p2 = new Vector2(p.X, p.Y - size / 2.0f); Vector2 p3 = new Vector2(p.X + size / 2.0f, p.Y); Vector2 p4 = new Vector2(p.X - size / 2.0f, p.Y); DrawLine(pen, p1, p3); DrawLine(pen, p3, p2); DrawLine(pen, p2, p4); DrawLine(pen, p4, p1); }
public static void DrawPoint(GLPen pen, Vector2 p) { DrawPoint(pen, p, true); }
public static void DrawEllipse(GLPen p, float x, float y, float width, float height) { DrawEllipse(p, new RectangleF(x, y, width, height)); }
public static void DrawPoint3D(GLPen pen, Vector3 p) { pen.GLApplyPen(); Gl.glBegin(Gl.GL_POINT); Gl.glVertex3d(p.X, p.Y, p.Z); Gl.glEnd(); }
public static void DrawEllipse(GLPen p, RectangleF rect) { p.GLApplyPen(); Gl.glPushMatrix(); Gl.glTranslatef(rect.Left+rect.Width /2, rect.Top + rect.Height /2 , 0); Gl.glBegin(Gl.GL_LINE_LOOP); for (double i = 0; i < Math.PI * 2; i += 0.05) Gl.glVertex2f((float)(Math.Cos(i) * rect.Width/2), (float)(Math.Sin(i) * rect.Height/2)); Gl.glEnd(); Gl.glPopMatrix(); }
public static void DrawPointList(GLPen pen, List<Vector3> pts, bool zEqualsZero) { Color color = pen.color; Gl.glBegin(Gl.GL_POINTS); foreach (Vector3 vp in pts) { Gl.glColor4ub(color.R, color.G, color.B, color.A); float[] c = { (float)color.R / 255.0f, (float)color.G / 255.0f, (float)color.B / 255.0f, (float)color.A / 255.0f }; Gl.glMaterialfv(Gl.GL_FRONT_AND_BACK, Gl.GL_AMBIENT_AND_DIFFUSE, c); Gl.glVertex3d(vp.X, vp.Y, zEqualsZero?0:vp.Z); } Gl.glEnd(); }
public static void DrawEllipse(GLPen p, Vector2 firstPoint, Vector2 secondPoint, float height) { Vector2 deltaPoint = new Vector2(firstPoint.X - secondPoint.X, firstPoint.Y - secondPoint.Y); double angle = deltaPoint.ToRadians(); deltaPoint = deltaPoint.Rotate90(); //Vector2 thirdPoint = deltaPoint.Normalize() * height; float length = (float)firstPoint.DistanceTo(secondPoint); Vector2 PreRotDrawpoint = new Vector2(0, 0); Vector2 PostRotDrawPoint = new Vector2(0, 0); p.GLApplyPen(); Gl.glPushMatrix(); Gl.glTranslatef((float)firstPoint.X, (float)firstPoint.Y, 0); Gl.glBegin(Gl.GL_LINE_LOOP); for (double i = 0; i < Math.PI * 2; i += 0.05) { PreRotDrawpoint = new Vector2((float)(Math.Cos(i) * length), (float)(Math.Sin(i) * height)); PostRotDrawPoint = PreRotDrawpoint.Rotate(angle); Gl.glVertex2f((float)PostRotDrawPoint.X, (float)PostRotDrawPoint.Y); } Gl.glEnd(); Gl.glPopMatrix(); }
public static void DrawWireframeBox3D(Vector3 a, Vector3 b, GLPen pen) { pen.GLApplyPen(); Gl.glBegin(Gl.GL_LINES); Gl.glVertex3d(a.X, a.Y, a.Z); Gl.glVertex3d(b.X, a.Y, a.Z); Gl.glVertex3d(a.X, b.Y, a.Z); Gl.glVertex3d(b.X, b.Y, a.Z); Gl.glVertex3d(a.X, a.Y, b.Z); Gl.glVertex3d(b.X, a.Y, b.Z); Gl.glVertex3d(a.X, b.Y, b.Z); Gl.glVertex3d(b.X, b.Y, b.Z); Gl.glVertex3d(a.X, a.Y, a.Z); Gl.glVertex3d(a.X, b.Y, a.Z); Gl.glVertex3d(a.X, a.Y, b.Z); Gl.glVertex3d(a.X, b.Y, b.Z); Gl.glVertex3d(b.X, a.Y, a.Z); Gl.glVertex3d(b.X, b.Y, a.Z); Gl.glVertex3d(b.X, a.Y, b.Z); Gl.glVertex3d(b.X, b.Y, b.Z); Gl.glVertex3d(a.X, a.Y, a.Z); Gl.glVertex3d(a.X, a.Y, b.Z); Gl.glVertex3d(b.X, a.Y, a.Z); Gl.glVertex3d(b.X, a.Y, b.Z); Gl.glVertex3d(a.X, b.Y, a.Z); Gl.glVertex3d(a.X, b.Y, b.Z); Gl.glVertex3d(b.X, b.Y, a.Z); Gl.glVertex3d(b.X, b.Y, b.Z); Gl.glEnd(); }
private void DrawLine(int i, int j) { double x, y; GLPen pen; float heightVal = (float)(grid.GetCellByIdx(i, j)); if (heightVal >= .01) { grid.GetReals(i, j, out x, out y); pen = new GLPen(ColorFromHeight(heightVal), 20f); pen.GLApplyPen(); Gl.glVertex3f((float)x, (float)y, heightVal); Gl.glVertex3f((float)x, (float)y, 0); } }