public void AddTools(Renderer renderer)
{
renderer.AddTool(rulerTool);
renderer.AddTool(angleTool);
renderer.AddTool(selectTool);
renderer.AddTool(pathTool);
//renderer.AddTool(pdfTool);
renderer.AddTool(sketchTool);
renderer.AddTool(contextMenuTool);
renderer.AddTool(pointInspectTool);
}
/// <summary>
/// Constructor for the renderer
/// </summary>
/// <param name="control">Gives the reference to the SimpleOpenGLControl you've created on a form</param>
/// <param name="fps">The frames per second (max) to render at. Set this to be about 30 for good performance.</param>
public Renderer(SimpleOpenGlControl control, double fps)
{
this.control = control;
this.fps = fps;
#region UI Initialization
camOrtho = new GLUtility.GLCameraOrtho(w);
camFree = new GLUtility.GLCameraFree(w);
camChase = new GLUtility.GLCameraChase(w);
camPrev = camCurrent = camOrtho;
#endregion
//This is baaaaad. Fix it.
instance = this;
}
public void AddNewRobot(int robotID, Renderer r)
{
Color color;
try
{
color = colors[robotID - 1];
}
catch (IndexOutOfRangeException e)
{
Random rand = new Random();
color = Color.FromArgb((int)(rand.NextDouble() * 255), (int)(rand.NextDouble() * 255), (int)(rand.NextDouble() * 255));
}
Color colorBloated;
try
{
colorBloated = colorsBloated[robotID - 1];
}
catch (IndexOutOfRangeException e)
{
Random rand = new Random();
colorBloated = Color.FromArgb((int)(rand.NextDouble() * 255), (int)(rand.NextDouble() * 255), (int)(rand.NextDouble() * 255));
}
if (robotID != 5)
{
RobotRenderer rr = new RobotRenderer("Robot " + robotID, color);
//robots[robotID] = new Robot(rr, color, robotID);
robots[robotID] = new Robot(rr, color, colorBloated, robotID);
r.AddRenderable(rr);
r.AddRenderable(robots[robotID].PathRenderer);
r.AddRenderable(robots[robotID].LidarRendererFront);
r.AddRenderable(robots[robotID].LidarRendererRear);
r.AddRenderable(robots[robotID].PolygonRenderer);
r.AddRenderable(robots[robotID].BloatedPolygonRenderer);
r.UpdateRobotPose(robotID, new Magic.Common.RobotPose());
}
}
public void OnMouseMove(Renderer r, MouseEventArgs e)
{
if ((tempActive == true) && (!((myToolManager.PathTool.IsActive) && (myToolManager.PathTool.TempActive))))
{
Vector2 worldMouseLoc = Vector2.FromPointF(
r.ScreenToWorld(e.Location));
if (r.CurrentCamera == r.CamOrtho)
{
if ((e.Button == MouseButtons.Left)&&(!zoomPanOnly))
{
Vector2 topLeftPoint;
Vector2 worldDownPoint = Vector2.FromPointF(
r.ScreenToWorld(downPoint));
double width = Math.Abs(
worldDownPoint.X - worldMouseLoc.X);
double height = Math.Abs(
worldDownPoint.Y - worldMouseLoc.Y);
topLeftPoint = TopLeftPoint(worldDownPoint, worldMouseLoc);
selectionRectangle = new Rect(topLeftPoint.X,
topLeftPoint.Y, width, height);
foreach (ISelectable renderable in r.Selectables)
{
if (renderable == null) continue;
if ((selectionRectangle.Overlaps(renderable.GetBoundingPolygon().CalculateBoundingRectangle()))&&
(!renderable.IsSelected))
{
renderable.OnSelect();
GestureExpData(this, new GestureExpHRIEventArgs("Tool:SelectTool|box drag|select using box|" + renderable.GetName() + "|" + renderable.GetBoundingPolygon().Center.X.ToString() + "|" + renderable.GetBoundingPolygon().Center.Y.ToString() + "|(world)"));
}
else if ((!selectionRectangle.Overlaps(renderable.GetBoundingPolygon().CalculateBoundingRectangle())) &&
(renderable.IsSelected))
{
renderable.OnDeselect();
GestureExpData(this, new GestureExpHRIEventArgs("Tool:SelectTool|box drag|deselect using box|" + renderable.GetName() + "|" + renderable.GetBoundingPolygon().Center.X.ToString() + "|" + renderable.GetBoundingPolygon().Center.Y.ToString() + "|(world)"));
}
}
}
else if (e.Button == MouseButtons.Right)
{
int dx = (int)(e.X - downPoint.X);
int dy = (int)(-e.Y + downPoint.Y);
PointF newTranslation = new PointF(
origTrans.X - dx / r.WorldTransform.Scale,
origTrans.Y - dy / r.WorldTransform.Scale);
r.Translation = newTranslation;
}
}
else if (r.CurrentCamera == r.CamFree && e.Button == MouseButtons.Left)
{
r.CamFree.Yaw((e.X - currentPoint.X) / 3);
r.CamFree.Pitch((e.Y - currentPoint.Y) / 2);
}
else if (r.CurrentCamera == r.CamChase)
{
r.CamChase.Pitch((e.Y - currentPoint.Y) / 2);
}
currentPoint = new PointF(e.X, e.Y);
}
}
public void OnMouseDown(Renderer r, MouseEventArgs e)
{
if (tempActive == true)
{
downPoint = new Point(e.X, e.Y);
origTrans = r.Translation;
currentCursor = Cursors.NoMove2D;
}
Vector2 worldMouseLoc = Vector2.FromPointF(r.ScreenToWorld(new PointF(e.X, e.Y)));
if (e.Button == MouseButtons.Right)
{
//if (GestureExpData != null)
// GestureExpData(this, new GestureExpSelectToolEventArgs("right down click, at " + e.X + ", " + e.Y + " (screen), " + worldMouseLoc.X + ", " + worldMouseLoc.Y + " (world)"));
}
else if (e.Button == MouseButtons.Left)
{
//if (GestureExpData != null)
// GestureExpData(this, new GestureExpHRIEventArgs("Tool:SelectTool|left click down|no change|" + e.X + "|" + e.Y + "|(screen)|" + worldMouseLoc.X + "|" + worldMouseLoc.Y + "|(world)"));
}
}
public void Draw(Renderer r)
{
if (isActive)
{
GLUtility.DrawRectangle(new GLPen(Color.Red, 1.0f),
new RectangleF((float)selectionRectangle.x,
(float)selectionRectangle.y,
(float)selectionRectangle.width,
(float)selectionRectangle.height));
}
}
public void Draw(Renderer r)
{
if (wallPoints.Count > 0)
{
for (int i = 0; i < wallPoints.Count; i++)
{
List<PointF> wallSegment = wallPoints[i];
for (int j = 0; j < wallSegment.Count - 1; j++)
{
GLUtility.DrawLine(new GLPen(color, 5), wallSegment[j], wallSegment[j + 1]);
}
}
}
if (homeBase.Count > 0)
{
GLUtility.DrawLine(new GLPen(color, 1), homeBase[0], homeBase[1]);
GLUtility.DrawLine(new GLPen(color, 1), homeBase[1], homeBase[2]);
GLUtility.DrawLine(new GLPen(color, 1), homeBase[2], homeBase[3]);
GLUtility.DrawString("HOME BASE", Color.DarkSlateGray, new PointF(7.6f, -2.4f));
GLUtility.DrawString("HOME BASE", Color.DarkSlateGray, new PointF(8.7f, -0.6f));
}
}
public void OnMouseUp(Renderer r, System.Windows.Forms.MouseEventArgs e)
{
if (this.isActive)
{
Vector2 worldMouseLoc = Vector2.FromPointF(r.ScreenToWorld(
new PointF(e.X, e.Y)));
if (e.Button == MouseButtons.Right)
{
bool context = false;
foreach (IRender renderable in r.Drawables)
{
IProvideContextMenu crend = renderable as IProvideContextMenu;
if (crend == null) continue;
if (crend.GetBoundingPolygon().IsInside(worldMouseLoc))
{
context = true;
if (showContextMenu != null) showContextMenu(this, new ContextMenuArgs(crend.GetMenuItems(), e.Location));
}
}
//if (!context) showContextMenu(this, new ContextMenuArgs(defaultMenu, e.Location));
}
}
}
public void OnMouseMove(Renderer r, System.Windows.Forms.MouseEventArgs e)
{
}
public void Draw(Renderer cam)
{
}
public void Draw(Renderer cam)
{
GLUtility.DrawEllipse(new GLPen(Color.Red, 1.0f), new RectangleF((float)(currentPoint.X - .1), (float)(currentPoint.Y - .1), .2f, .2f));
GLUtility.DrawString(currentPoint.X.ToString("F2") + "," + currentPoint.Y.ToString("F2"), Color.Black, currentPoint.ToPointF());
//if (poiList.Count > 0)
//{
// foreach (NotepointRenderer np in poiList)
// {
// PointF newPoint = new PointF((float)np.X,(float)np.Y);
// if ((shouldMove == true) && np.Equals(pointToMove))
// {
// GLUtility.DrawCircle(new GLPen(Color.Red, 0.25f), newPoint, 0.25f);
// }
// else
// {
// GLUtility.DrawCircle(new GLPen(np.Color, 0.25f), newPoint, 0.25f);
// }
// }
//}
}
public void OnMouseUp(Renderer r, MouseEventArgs e)
{
if (tempActive == true)
{
currentCursor = Cursors.Default;
Vector2 worldMouseLoc = Vector2.FromPointF(r.ScreenToWorld(
new PointF(e.X, e.Y)));
if (e.Button == MouseButtons.Right)
{
//if (GestureExpData != null)
// GestureExpData(this, new GestureExpSelectToolEventArgs("right up click, at " + e.X + ", " + e.Y + " (screen), " + worldMouseLoc.X + ", " + worldMouseLoc.Y + " (world)"));
}
else if ((e.Button == MouseButtons.Left) && (!zoomPanOnly))
{
if (selectionRectangle.Equals(new Rect()))
{
// Send mouseUp to every IMouseInteract that intersects the mouse click location
foreach (ISelectable renderable in r.Selectables)
{
if (renderable == null)
{
continue;
}
else if (!myToolManager.PathTool.TempActive)//if (!((ToolManager.PathTool.IsActive) && (ToolManager.PathTool.TempActive)))
{
if (renderable.GetBoundingPolygon().IsInside(worldMouseLoc))
{
if (renderable.IsSelected)
{
renderable.OnDeselect();
if (GestureExpData != null)
GestureExpData(this, new GestureExpHRIEventArgs("Tool:SelectTool|left click up|deselect using click|" + e.X + "|" + e.Y + "|(screen)|" + worldMouseLoc.X + "|" + worldMouseLoc.Y + "|(world)"));
}
else
{
renderable.OnSelect();
if (GestureExpData != null)
GestureExpData(this, new GestureExpHRIEventArgs("Tool:SelectTool|left click up|select using click|" + e.X + "|" + e.Y + "|(screen)|" + worldMouseLoc.X + "|" + worldMouseLoc.Y + "|(world)"));
}
if ((myToolManager.PathTool.IsActive) && (!myToolManager.PathTool.TempActive))
{
myToolManager.PathTool.TempReactivate();
tempActive = false;
}
}
}
}
//if (GestureExpData != null)
// GestureExpData(this, new GestureExpHRIEventArgs("Tool:SelectTool left click up no change " + e.X + " " + e.Y + " (screen) " + worldMouseLoc.X + " " + worldMouseLoc.Y + " (world)"));
}
else
{
selectionRectangle = new Rect();
//if (GestureExpData != null)
// GestureExpData(this, new GestureExpHRIEventArgs("Tool:SelectTool|left click up|draw box|" + e.X + "|" + e.Y + "|(screen)|" + worldMouseLoc.X + "|" + worldMouseLoc.Y + "|(world)"));
if ((myToolManager.PathTool.IsActive) && (!myToolManager.PathTool.TempActive))
{
myToolManager.PathTool.TempReactivate();
tempActive = false;
}
}
}
}
}
public void RemoveTools(Renderer renderer, IRenderTool tool)
{
renderer.RemoveTool(tool);
}
public void BuildAllConflicts(Renderer renderer)
{
foreach (IRenderTool tool in renderer.Tools)
{
tool.BuildConflicts(renderer.Tools);
}
}
/// <summary>
/// Some of these parameters are off
/// TODO: adjust them for MAGIC
/// </summary>
/// <param name="cam"></param>
public void Draw(Renderer cam)
{
if (grid == null) return;
Vector3 camLoc = cam.CamFree.Location;
//Gl.glLineWidth(10f);
//Gl.glBegin(Gl.GL_LINES);
if (grid.NumCellX > 300)
{
int xstart, ystart, xend, yend, numrings = 4;
grid.GetIndicies(camLoc.X, camLoc.Y, out xstart, out ystart);
Point lastBL, lastTR,
currBL = new Point(xstart, ystart),
currTR = currBL;
int incrAmt, range;
for (int i = 1; i <= numrings; i++)
{
switch (i)
{
case 1:
incrAmt = 1;
range = 50;
break;
case 2:
incrAmt = 4;
range = 120;
break;
case 3:
incrAmt = 7;
range = 290;
break;
case 4:
default:
incrAmt = 14;
range = 800;
break;
}
if (range > grid.NumCellX) break;
lastBL = currBL;
lastTR = currTR;
grid.GetIndicies(camLoc.X - range, camLoc.Y - range, out xstart, out ystart);
grid.GetIndicies(camLoc.X + range, camLoc.Y + range, out xend, out yend);
currBL = new Point(xstart, ystart);
currTR = new Point(xend, yend);
IterDonutRegion(currBL, lastBL, lastTR, currTR, incrAmt);
}
}
else
IterDonutRegion2(new Point(), new Point(grid.NumCellX / 2, grid.NumCellY / 2), new Point(grid.NumCellX / 2, grid.NumCellY / 2), new Point(grid.NumCellX, grid.NumCellY), 1);
//Gl.glEnd();
}
public void OnMouseUp(Renderer r, MouseEventArgs e)
{
Vector2 worldMouseLoc = Vector2.FromPointF(r.ScreenToWorld(new PointF(e.X, e.Y)));
if (e.Button == MouseButtons.Right)
{
//if (GestureExpData != null)
// GestureExpData(this, new GestureExpPointToolEventArgs("Tool:PointTool right click up " + e.X + ", " + e.Y + " (screen), " + worldMouseLoc.X + ", " + worldMouseLoc.Y + " (world)"));
}
else if(e.Button.Equals(MouseButtons.Left))
{
if ((modeMovePOI == true) && (shouldMove == true))
{
shouldMove = false;
myToolManager.SelectTool.TempReactivate();
myToolManager.PathTool.TempReactivate();
modeMovePOI = false;
if (GestureExpData != null)
GestureExpData(this, new GestureExpHRIEventArgs("Tool:PointTool|left click up|drop point|" + e.X + "|" + e.Y + "|(screen)|" + worldMouseLoc.X + "|" + worldMouseLoc.Y + "|(world)"));
}
else if (modeNewPOI == true)
{
modeNewPOI = false;
myToolManager.SelectTool.TempReactivate();
myToolManager.PathTool.TempReactivate();
//if (GestureExpData != null)
// GestureExpData(this, new GestureExpPointToolEventArgs("Tool:PointTool left click up create point at " + e.X + ", " + e.Y + " (screen), " + worldMouseLoc.X + ", " + worldMouseLoc.Y + " (world)"));
}
}
}
public void OnMouseMove(Renderer r, MouseEventArgs e)
{
currentPoint = Vector2.FromPointF(r.ScreenToWorld(e.Location));
if ((modeMovePOI == true) && (shouldMove == true))
{
PointF p = r.ScreenToWorld(new PointF(e.X, e.Y));
foreach (NotepointRenderer np in poiList)
{
if (np.Equals(pointToMove))
{
NotepointRenderer mousePoint = np;
mousePoint.X = p.X;
mousePoint.Y = p.Y;
poiList.Remove(np);
poiList.Add(mousePoint);
pointToMove = mousePoint;
break;
}
}
}
}
public void OnMouseDown(Renderer r, MouseEventArgs e)
{
PointF worldPoint = r.ScreenToWorld(e.Location);
if (e.Button == MouseButtons.Right)
{
//if (GestureExpData != null)
// GestureExpData(this, new GestureExpPointToolEventArgs("right down click, at " + e.X + ", " + e.Y + " (screen), " + worldPoint.X + ", " + worldPoint.Y + " (world)"));
}
else if(e.Button.Equals(MouseButtons.Left))
{
//PointF worldPoint = r.ScreenToWorld(e.Location);
if (modeNewPOI == true)
{
if (POItype == "PICTURE")
{
if (r.Selectables.Count() > 0)
{
foreach (ISelectable sel in r.Selectables)
{
RobotRenderer rr = sel as RobotRenderer;
if (rr != null && rr.IsSelected)
{
r.AddRenderable(new FakeObjectRenderer("important", rr.GetBoundingPolygon().Center.ToPointF(), "picture"));
if (GestureExpData != null)
{
GestureExpData(this, new GestureExpHRIEventArgs("Tool:PointTool|left click down|take picture|Robot " + rr.GetName().Substring(rr.GetName().Length-1) + "|" + e.X + "|" + e.Y + "|(screen)|" + worldPoint.X + "|" + worldPoint.Y + "|(world)"));
}
}
}
}
}
else
{
NotepointRenderer newPoint = new NotepointRenderer();
newPoint.Name = POItype;
if (POItype == "SQUARE")
{
newPoint.Color = Color.DarkMagenta;
}
else if (POItype == "TRIANGLE")
{
newPoint.Color = Color.DarkGreen;
}
else if (POItype == "SPIRAL")
{
newPoint.Color = Color.DarkRed;
}
newPoint.X = worldPoint.X;
newPoint.Y = worldPoint.Y;
newPoint.Z = 0;
poiList.Add(newPoint);
r.AddRenderable(newPoint);
if (GestureExpData != null)
{
GestureExpData(this, new GestureExpHRIEventArgs("Tool:PointTool|left click down|create|" + newPoint.Name + "|" + e.X + "|" + e.Y + "|(screen)|" + worldPoint.X + "|" + worldPoint.Y + "|(world)"));
}
}
}
else if (modeDeletePOI == true)
{
if (poiList.Count > 0)
{
List<NotepointRenderer> pointsToRemove= new List<NotepointRenderer>();
foreach (NotepointRenderer np in poiList)
{
if ((worldPoint.X - np.X > -.25) && (worldPoint.Y - np.Y > -.25) &&
(worldPoint.X - np.X < .25) && (worldPoint.Y - np.Y < .25))
{
pointsToRemove.Add(np);
r.RemoveRenderable(np);
if (GestureExpData != null)
GestureExpData(this, new GestureExpHRIEventArgs("Tool:PointTool|left click down|remove|" + np.Name + "|" + e.X + "|" + e.Y + "|(screen)|" + worldPoint.X + "|" + worldPoint.Y + "|(world)"));
}
}
if (pointsToRemove.Count>0)
{
foreach (NotepointRenderer n in pointsToRemove)
{
poiList.Remove(n);
}
myToolManager.SelectTool.TempReactivate();
myToolManager.PathTool.TempReactivate();
modeDeletePOI = false;
}
}
}
else if (modeMovePOI == true)
{
if (poiList.Count > 0)
{
foreach (NotepointRenderer np in poiList)
{
if ((worldPoint.X - np.X > -.25) && (worldPoint.Y - np.Y > -.25) &&
(worldPoint.X - np.X < .25) && (worldPoint.Y - np.Y < .25))
{
shouldMove = true;
pointToMove = np;
if (GestureExpData != null)
GestureExpData(this, new GestureExpHRIEventArgs("Tool:PointTool|left click down|move|" + np.Name + "|" + e.X + "|" + e.Y + "|(screen)|" + worldPoint.X + "|" + worldPoint.Y + "|(world)"));
break;
}
}
}
}
}
}
public void AddTools(Renderer renderer,IRenderTool tool)
{
renderer.AddTool(tool);
}
public void Draw(Renderer r)
{
float lineWidth = selected ? 2.0f : 1.0f;
PointF bodyPnt = new PointF(x, y);
PointF bodyHeading = new PointF(bodyPnt.X + (float)Math.Cos(heading), bodyPnt.Y + (float)Math.Sin(heading));
GLUtility.DrawLineLoop(new GLPen(color, lineWidth), bodyPlygn.ToArray());
GLUtility.FillTriangle(color, 0.6f, bodyPlygn[0].ToPointF(), bodyPlygn[1].ToPointF(), bodyPlygn[2].ToPointF());
GLUtility.FillTriangle(color, 0.6f, bodyPlygn[2].ToPointF(), bodyPlygn[3].ToPointF(), bodyPlygn[0].ToPointF());
// Draw heading
//GLUtility.DrawLine(new GLPen(Color.Red, lineWidth), Vector2.FromPointF(bodyPnt), Vector2.FromPointF(bodyHeading));
GLUtility.DrawLine(new GLPen(Color.Red, lineWidth), bodyPnt, bodyHeading);
//// Draw the name
//if (modeString.Equals(""))
// GLUtility.DrawString(MythName + ": " + name, Color.Black, bodyPnt);
//else if (modeQualifier.Equals(""))
// GLUtility.DrawString(name + ": " + modeString, Color.Black, bodyPnt);
//else// if (defaultRenderer != null)
//{
// try
// {
// GLUtility.DrawStringMultiLine(name + ": " + modeString + '\n' + "NOTE: " + modeQualifier, Color.Black, bodyPnt, r.CurrentCamera);
// }
// catch { GLUtility.DrawString(name + ": " + modeString, Color.Black, bodyPnt); }
//}//else
//// GLUtility.DrawString(name + ": " + modeString + "(NOTE: " + modeQualifier + ")", Color.Black, bodyPnt);
GLUtility.DrawString(name, Color.Black, bodyPnt);
DrawFlagLine(x, y, color);
if (drawCameraView && IsSelected)
{
PointF p1 = bodyPnt;
PointF p2 = new PointF(bodyPnt.X + 5 * (float)Math.Cos(heading - 0.5 * (cameraFOVangle * Math.PI / 180)), bodyPnt.Y + 5 * (float)Math.Sin(heading - 0.5 * (cameraFOVangle * Math.PI / 180)));
PointF p3 = new PointF(bodyPnt.X + 5 * (float)Math.Cos(heading - 0.167 * (cameraFOVangle * Math.PI / 180)), bodyPnt.Y + 5 * (float)Math.Sin(heading - 0.167 * (cameraFOVangle * Math.PI / 180)));
PointF p4 = new PointF(bodyPnt.X + 5 * (float)Math.Cos(heading + 0.167 * (cameraFOVangle * Math.PI / 180)), bodyPnt.Y + 5 * (float)Math.Sin(heading + 0.167 * (cameraFOVangle * Math.PI / 180)));
PointF p5 = new PointF(bodyPnt.X + 5 * (float)Math.Cos(heading + 0.5 * (cameraFOVangle * Math.PI / 180)), bodyPnt.Y + 5 * (float)Math.Sin(heading + 0.5 * (cameraFOVangle * Math.PI / 180)));
GLUtility.FillTriangle(color, 0.1f, p1, p2, p3);
GLUtility.FillTriangle(color, 0.1f, p1, p3, p4);
GLUtility.FillTriangle(color, 0.1f, p1, p4, p5);
//GLUtility.FillTriangle(Color.BlueViolet, 0.3f, p1, p2, p3);
//GLUtility.FillTriangle(Color.Blue, 0.3f, p1, p3, p4);
//GLUtility.FillTriangle(Color.Turquoise, 0.3f, p1, p4, p5);
}
}