/// <summary>
/// Operations to perform on MouseMove:
/// If we're moving a waypoint, update the waypoint location (for rendering) to the mouse location
/// Otherwise, don't do anything
/// </summary>
/// <param name="r"></param>
/// <param name="e"></param>
#region Operations to perform on MouseMove
public void OnMouseMove(Renderer r, MouseEventArgs e)
{
mousePoint = new PointF(e.X, e.Y);
PointF p = r.ScreenToWorld(e.Location);
if (shouldMove == true)
{
foreach (WaypointRenderer wp in newPath.WaypointList)
{
if (movePointWP.Equals(wp))
{
WaypointRenderer mouseWP = wp;
mouseWP.X = p.X;
mouseWP.Y = p.Y;
clonePathWP.AddWaypoint(mouseWP);
movePointWP = mouseWP;
}
else
{
clonePathWP.AddWaypoint(wp);
}
}
newPath = clonePathWP;
clonePathWP = new PathToRobotRenderer();
}
}
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)"));
}
}
}
/// <summary>
/// Operations to perform on MouseUp:
/// If we just finished moving a waypoint, execute pathPointMoved event
/// </summary>
/// <param name="r"></param>
/// <param name="e"></param>
#region Operations to perform on MouseUp
public void OnMouseUp(Renderer r, MouseEventArgs e)
{
//throw new NotImplementedException();
if (shouldMove)
{
PointF p = r.ScreenToWorld(e.Location);
foreach (WaypointRenderer wp in newPath.WaypointList)
{
if (wp.Equals(movePointWP))
{
myToolManager.SelectTool.TempReactivate();
break;
}
}
if (e.Button == MouseButtons.Right)
{
//if (GestureExpData != null)
// GestureExpData(this, new GestureExpPathToolEventArgs("Tool:PathTool right click up " + e.X + ", " + e.Y + " (screen), " + p.X + ", " + p.Y + " (world)"));
}
else if (e.Button == MouseButtons.Left)
{
if (GestureExpData != null)
{
GestureExpData(this, new GestureExpHRIEventArgs("Tool:PathTool|left click up|move waypoint to|" + e.X + "|" + e.Y + "|(screen)|" + p.X + "|" + p.Y + "|(world)"));
}
}
}
shouldMove = false;
}
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));
}
}
}
/// <summary>
/// Operations to perform on MouseDown (takes: Renderer r, MouseEventArgs e)
/// </summary>
/// <param name="r"></param>
/// <param name="e"></param>
#region Operations to perform on MouseDown
public void OnMouseDown(Renderer r, MouseEventArgs e)
{
#region Left Click
//check that button was a left click
if (e.Button == MouseButtons.Left)
{
PointF p = r.ScreenToWorld(e.Location);
if (GestureExpData != null)
{
GestureExpData(this, new GestureExpHRIEventArgs("Tool:SketchTool|new stroke"));
}
if (pixelListWorld.Count == 0)
{
shouldDraw = true;
startTime = DateTime.Now.DayOfYear * 1000 * 60 * 24 * 365 + DateTime.Now.Hour * 60000 * 24 + DateTime.Now.Minute * 60000 + DateTime.Now.Second * 1000 + DateTime.Now.Millisecond;
pixelListWorld.Add(new Vector4(p.X, p.Y, 0, 1));
pixelListScreen.Add(new Vector4(e.X, e.Y, 0, 1));
strokeCount = 1;
}
else
{
shouldDraw = true;
nowTime = DateTime.Now.DayOfYear * 1000 * 60 * 24 * 365 + DateTime.Now.Hour * 60000 * 24 + DateTime.Now.Minute * 60000 + DateTime.Now.Second * 1000 + DateTime.Now.Millisecond;
strokeCount++; // strokeCount = pixelListScreen.Last().W + 1;
pixelListWorld.Add(new Vector4(p.X, p.Y, nowTime - startTime, strokeCount));
pixelListScreen.Add(new Vector4(e.X, e.Y, nowTime - startTime, strokeCount));
}
}
#endregion
}
/// <summary>
/// OnMouseMove : log & draw pixel data if a gesture is being drawn
/// </summary>
/// <param name="r"></param>
/// <param name="e"></param>
public void OnMouseMove(Renderer r, MouseEventArgs e)
{
if (isDrawing)
{
mousePixel.X = e.X / pixelWidth;
mousePixel.Y = e.Y / pixelHeight;
if (mousePixel.X <= 100 + pixelWidth / 2 &&
mousePixel.Y <= 100 + pixelHeight / 2 &&
mousePixel.X >= 0 &&
mousePixel.Y >= 0)
{
if (!lastPixel.Equals(mousePixel))
{
int currentTime = DateTime.Now.DayOfYear * 1000 * 60 * 24 * 365 + DateTime.Now.Hour * 60000 * 24 + DateTime.Now.Minute * 60000 + DateTime.Now.Second * 1000 + DateTime.Now.Millisecond;
int deltaTime = (currentTime - startTime);
lastPixel = mousePixel;
logPixelData.X = mousePixel.X;
logPixelData.Y = mousePixel.Y;
logPixelData.Z = deltaTime; // time
logPixelData.W = countStrokes; // stroke #
pixelList.Add(logPixelData);
worldPixel.X = mousePixel.X * pixelWidth + pixelWidth / 2;
worldPixel.Y = mousePixel.Y * pixelWidth + pixelHeight / 2;
PointF p = r.ScreenToWorld(worldPixel);
drawPixelList.Add(p);
}
}
}
}
/// <summary>
/// This is called whenever the renderer is going to draw stuff. Essentially this is where you put your
/// tool drawing code.
/// </summary>
/// <param name="r"></param>
public void Draw(Renderer r)
{
#region ruler drawing code
if (shouldDraw && isActive)
{
PointF p1 = r.ScreenToWorld(downPoint);
PointF p2 = r.ScreenToWorld(movePoint);
GLPen pen = new GLPen(Color.Purple, 1.0f);
GLUtility.DrawLine(pen, p1, p2);
GLUtility.DrawEllipse(pen, new RectangleF(p1.X - .1f, p1.Y - .1f, .2f, .2f));
GLUtility.DrawEllipse(pen, new RectangleF(p2.X - .1f, p2.Y - .1f, .2f, .2f));
distance = Math.Sqrt(((p1.X - p2.X) * (p1.X - p2.X)) + ((p1.Y - p2.Y) * (p1.Y - p2.Y)));
PointF m = new PointF((p1.X + p2.X) / 2.0f + .3f, (p1.Y + p2.Y) / 2.0f + .3f);
GLUtility.DrawString(distance.ToString("F2") + "m", Color.Black, m);
}
#endregion
}
public void Draw(Renderer r)
{
#region angle drawing code
if (IsActive)
{
if (angleState == 1)
{
PointF p1 = r.ScreenToWorld(clickPoint);
PointF p2 = r.ScreenToWorld(movePoint);
GLPen pen = new GLPen(Color.Purple, 1.0f);
GLUtility.DrawLine(pen, Vector2.FromPointF(p1), Vector2.FromPointF(p2));
GLUtility.DrawEllipse(pen, new RectangleF(p1.X - .1f, p1.Y - .1f, .2f, .2f));
GLUtility.DrawEllipse(pen, new RectangleF(p2.X - .1f, p2.Y - .1f, .2f, .2f));
dist12 = Math.Sqrt(((p1.X - p2.X) * (p1.X - p2.X)) + ((p1.Y - p2.Y) * (p1.Y - p2.Y)));
PointF m12 = new PointF((p1.X + p2.X) / 2.0f, (p1.Y + p2.Y) / 2.0f);
GLUtility.DrawString(dist12.ToString("F2") + "m", Color.Black, m12);
}
if (angleState == 2)
{
PointF p1 = r.ScreenToWorld(clickPoint);
PointF p2 = r.ScreenToWorld(clickPoint2);
PointF p3 = r.ScreenToWorld(movePoint);
GLPen pen = new GLPen(Color.Purple, 1.0f);
GLUtility.DrawLine(pen, p1, p2);
GLUtility.DrawLine(pen, p2, p3);
GLUtility.DrawEllipse(pen, new RectangleF(p1.X - .1f, p1.Y - .1f, .2f, .2f));
GLUtility.DrawEllipse(pen, new RectangleF(p2.X - .1f, p2.Y - .1f, .2f, .2f));
GLUtility.DrawEllipse(pen, new RectangleF(p3.X - .1f, p3.Y - .1f, .2f, .2f));
dist12 = Math.Sqrt(((p1.X - p2.X) * (p1.X - p2.X)) + ((p1.Y - p2.Y) * (p1.Y - p2.Y)));
PointF m12 = new PointF((p1.X + p2.X) / 2.0f, (p1.Y + p2.Y) / 2.0f);
GLUtility.DrawString(dist12.ToString("F2") + "m", Color.Black, m12);
dist23 = Math.Sqrt(((p2.X - p3.X) * (p2.X - p3.X)) + ((p2.Y - p3.Y) * (p2.Y - p3.Y)));
PointF m23 = new PointF((p2.X + p3.X) / 2.0f, (p2.Y + p3.Y) / 2.0f);
GLUtility.DrawString(dist23.ToString("F2") + "m", Color.Black, m23);
dist13 = Math.Sqrt(((p1.X - p3.X) * (p1.X - p3.X)) + ((p1.Y - p3.Y) * (p1.Y - p3.Y)));
cosangle = (dist12 * dist12 + dist23 * dist23 - dist13 * dist13) / (2 * dist12 * dist23);
angleDEG = Math.Acos(cosangle) * (180.0 / Math.PI);
p2.X += .5f; p2.Y += .5f;
GLUtility.DrawString(angleDEG.ToString("F2") + " deg", Color.Black, p2);
}
}
#endregion
}
/// <summary>
/// Operations to perform on MouseMove:
/// </summary>
/// <param name="r"></param>
/// <param name="e"></param>
#region Operations to perform on MouseMove
public void OnMouseMove(Renderer r, MouseEventArgs e)
{
if (shouldDraw)
{
PointF p = r.ScreenToWorld(e.Location);
nowTime = DateTime.Now.DayOfYear * 1000 * 60 * 24 * 365 + DateTime.Now.Hour * 60000 * 24 + DateTime.Now.Minute * 60000 + DateTime.Now.Second * 1000 + DateTime.Now.Millisecond;
pixelListWorld.Add(new Vector4(p.X, p.Y, nowTime - startTime, strokeCount));
pixelListScreen.Add(new Vector4(e.X, e.Y, nowTime - startTime, strokeCount));
}
}
public void OnMouseDown(Renderer r, System.Windows.Forms.MouseEventArgs e)
{
if (e.Button == MouseButtons.Left)
{
currentPoints.Add(Vector2.FromPointF(r.ScreenToWorld(e.Location)));
}
else if (e.Button == MouseButtons.Right)
{
ToolCompleted(this, new PolygonToolCompletedEventArgs(currentPoints));
currentPoints.Clear();
}
}
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)
{
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 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 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 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 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));
}
}
}
/// <summary>
/// Draw the waypoints & path (circles & lines)
/// </summary>
/// <param name="r"></param>
#region path drawing code
public void Draw(Renderer r)
{
//if only one waypoint, draw the waypoint
if (newPath.WaypointList.Count == 1 && shouldDraw)
{
WaypointRenderer wpFirst = newPath.WaypointList[0];
PointF drawPoint = new PointF((float)wpFirst.X, (float)wpFirst.Y);
GLUtility.DrawCircle(new GLPen(wpFirst.Color, 1.0f), drawPoint, 0.2f);
if (!shouldMove && tempActive)
{
GLUtility.DrawLine(new GLPen(Color.LawnGreen, 1.0f), drawPoint, r.ScreenToWorld(mousePoint));
}
}
// if more than one waypoint, draw waypoints and connect subsequent waypoints with a line
else if (newPath.WaypointList.Count > 1 && shouldDraw)
{
WaypointRenderer wpLast = newPath.WaypointList.First();
foreach (WaypointRenderer wp in newPath.WaypointList)
{
PointF pathPoint = new PointF((float)wp.X, (float)wp.Y);
if (shouldMove && wp.Equals(movePointWP))
{
GLUtility.DrawCircle(new GLPen(Color.Red, 1.0f), pathPoint, 0.2f);
}
else
{
GLUtility.DrawCircle(new GLPen(wp.Color, 1.0f), pathPoint, 0.2f);
}
if (!wp.Equals(newPath.WaypointList.First()))
{
PointF dummyLast = new PointF((float)wpLast.X, (float)wpLast.Y);
GLUtility.DrawLine(new GLPen(newPath.Color, 1.0f), dummyLast, pathPoint);
}
wpLast = wp;
}
// if we are not moving a waypoint, draw a light green line between last waypoint and current mouse location
if (!shouldMove && tempActive)
{
PointF dummyLast = new PointF((float)wpLast.X, (float)wpLast.Y);
GLUtility.DrawLine(new GLPen(Color.LawnGreen, 1.0f), dummyLast, r.ScreenToWorld(mousePoint));
}
}
if (newPath.WaypointList.Count > 0)
{
foreach (ISelectable selectable in r.Selectables)
{
PointF dummyFirst = new PointF();
RobotRenderer robot = selectable as RobotRenderer;
if (robot == null)
{
continue;
}
else if (robot.IsSelected)
{
Polygon p = robot.GetBoundingPolygon();
if (p.points.Count > 0)
{
dummyFirst = new PointF((float)newPath.WaypointList[0].X, (float)newPath.WaypointList[0].Y);
GLUtility.DrawLine(new GLPen(Color.Green, 1.0f), p.Center.ToPointF(), dummyFirst);
}
}
}
}
}
public void OnMouseDown(Renderer r, MouseEventArgs e)
{
bool deletedPDF = false;
if (modeDeletePDF)
{
int enumer = 0;
int pointtype = 0;
PDFFormRenderer clonePDFRenderer = new PDFFormRenderer();
foreach (PDFReferencePointRenderer pdfRP in PDFrenderer.PDFReferencePointList)
{
if ((movePoint.X - pdfRP.X < 0.25) && (movePoint.Y - pdfRP.Y < 0.25) &&
(movePoint.X - pdfRP.X > -0.25) && (movePoint.Y - pdfRP.Y > -0.25))
{
deletedPDF = true;
pointtype = enumer % 3;
int enumer2 = 0;
foreach (PDFReferencePointRenderer pdfRP2 in PDFrenderer.PDFReferencePointList)
{
if (enumer2 < enumer - pointtype || enumer2 > enumer - pointtype + 2)
{
clonePDFRenderer.PDFReferencePointList.Add(pdfRP2);
}
enumer2++;
}
myToolManager.SelectTool.TempDeactivate();
break;
}
enumer++;
}
if (deletedPDF)
{
PDFrenderer = clonePDFRenderer;
if (PDFrenderer.PDFReferencePointList.Count > 0)
{
defaultMode = "Send PDF peak";
modeNewPDF = true;
firstpointmode = true;
secondpointmode = false;
thirdpointmode = false;
UpdateDefault(this, new EventArgs());
}
else
{
modeList.Remove("Remove PDF peak");
modeList.Remove("Edit PDF points");
modeList.Remove("Send PDF peak");
modeList.Remove("Move PDF peak");
defaultMode = "Add new PDF peak";
modeNewPDF = true;
firstpointmode = true;
secondpointmode = false;
thirdpointmode = false;
UpdateDefault(this, new EventArgs());
isDrawing = false;
}
}
}
else if (modeEditPDF)
{
foreach (PDFReferencePointRenderer pdfRP in PDFrenderer.PDFReferencePointList)
{
if ((movePoint.X - pdfRP.X < 0.25) && (movePoint.Y - pdfRP.Y < 0.25) &&
(movePoint.X - pdfRP.X > -0.25) && (movePoint.Y - pdfRP.Y > -0.25))
{
shouldEdit = true;
movePDFPoint = pdfRP;
ghostPoint = pdfRP;
currentCursor = Cursors.Hand;
myToolManager.SelectTool.TempDeactivate();
break;
}
}
}
else if (modeMovePDF)
{
/*
* foreach (PDFReferencePointRenderer pdfRP in PDFrenderer.PDFReferencePointList)
* {
* if ((movePoint.X - pdfRP.X < 0.25) && (movePoint.Y - pdfRP.Y < 0.25) &&
* (movePoint.X - pdfRP.X > -0.25) && (movePoint.Y - pdfRP.Y > -0.25))
* {
* shouldEdit = true;
* movePDFPoint = pdfRP;
* ghostPoint = pdfRP;
* currentCursor = Cursors.Hand;
* ToolManager.SelectTool.TempDeactivate();
* break;
* }
* }*/
int enumer = 0;
int pointtype = 0;
//PDFFormRenderer clonePDFRenderer = new PDFFormRenderer();
foreach (PDFReferencePointRenderer pdfRP in PDFrenderer.PDFReferencePointList)
{
if ((movePoint.X - pdfRP.X < 0.25) && (movePoint.Y - pdfRP.Y < 0.25) &&
(movePoint.X - pdfRP.X > -0.25) && (movePoint.Y - pdfRP.Y > -0.25))
{
shouldMove = true;
//deletedPDF = true;
pointtype = enumer % 3;
int enumer2 = 0;
MoveReferencePoint = pdfRP;
foreach (PDFReferencePointRenderer pdfRP2 in PDFrenderer.PDFReferencePointList)
{
if (enumer2 == enumer - pointtype)
{
GhostMovePoint1 = pdfRP2;
MoveDeltaReferencePoint1.X = GhostMovePoint1.X - MoveReferencePoint.X;
MoveDeltaReferencePoint1.Y = GhostMovePoint1.Y - MoveReferencePoint.Y;
}
else if (enumer2 == enumer - pointtype + 1)
{
GhostMovePoint2 = pdfRP2;
MoveDeltaReferencePoint2.X = GhostMovePoint2.X - MoveReferencePoint.X;
MoveDeltaReferencePoint2.Y = GhostMovePoint2.Y - MoveReferencePoint.Y;
}
else if (enumer2 == enumer - pointtype + 2)
{
GhostMovePoint3 = pdfRP2;
MoveDeltaReferencePoint3.X = GhostMovePoint3.X - MoveReferencePoint.X;
MoveDeltaReferencePoint3.Y = GhostMovePoint3.Y - MoveReferencePoint.Y;
}
enumer2++;
}
myToolManager.SelectTool.TempDeactivate();
break;
}
enumer++;
}
}
else if (e.Button == MouseButtons.Left && quickPointMode && modeNewPDF)
{
if (isGenerating == false && isEditing == false && modeNewPDF)
{
isDrawing = true;
//isGenerating = true;
}
double radius = 0.5;
centerPoint = r.ScreenToWorld(e.Location);
PDFReferencePointRenderer quickpoint1 = new PDFReferencePointRenderer();
quickpoint1.X = centerPoint.X - radius;
quickpoint1.Y = centerPoint.Y;
PDFrenderer.AddReferencePoint(quickpoint1);
PDFReferencePointRenderer quickpoint2 = new PDFReferencePointRenderer();
quickpoint2.X = centerPoint.X + radius;
quickpoint2.Y = centerPoint.Y;
PDFrenderer.AddReferencePoint(quickpoint2);
PDFReferencePointRenderer quickpoint3 = new PDFReferencePointRenderer();
quickpoint3.X = centerPoint.X;
quickpoint3.Y = centerPoint.Y + radius;
PDFrenderer.AddReferencePoint(quickpoint3);
Console.WriteLine("added quickpoint");
if (!(modeList.Contains("Remove PDF peak")))
{
modeList.Add("Remove PDF peak");
modeList.Add("Edit PDF points");
modeList.Add("Send PDF peak");
modeList.Add("Move PDF peak");
defaultMode = "Send PDF peak";
UpdateDefault(this, new EventArgs());
}
}
else if (e.Button == MouseButtons.Left && firstpointmode && modeNewPDF)
{
if (isGenerating == false && isEditing == false && modeNewPDF)
{
isDrawing = true;
isGenerating = true;
centerPoint = r.ScreenToWorld(e.Location);
movePoint = r.ScreenToWorld(e.Location);
firstPDFPoint.X = centerPoint.X;
firstPDFPoint.Y = centerPoint.Y;
}
secondpointmode = true;
firstpointmode = false;
Console.WriteLine("secondpointmode");
PDFReferencePointRenderer point1 = new PDFReferencePointRenderer();
point1.X = firstPDFPoint.X;
point1.Y = firstPDFPoint.Y;
PDFrenderer.AddReferencePoint(point1);
}
else if (e.Button == MouseButtons.Left && secondpointmode && modeNewPDF)
{
thirdpointmode = true;
secondpointmode = false;
Console.WriteLine("thirdpointmode");
PDFReferencePointRenderer point2 = new PDFReferencePointRenderer();
point2.X = secondPDFPoint.X;
point2.Y = secondPDFPoint.Y;
PDFrenderer.AddReferencePoint(point2);
}
else if (e.Button == MouseButtons.Left && thirdpointmode && modeNewPDF)
{
isGenerating = false;
firstpointmode = true;
thirdpointmode = false;
Console.WriteLine("firstpointmode");
PDFReferencePointRenderer point3 = new PDFReferencePointRenderer();
point3.X = thirdPDFPoint.X;
point3.Y = thirdPDFPoint.Y;
PDFrenderer.AddReferencePoint(point3);
if (!(modeList.Contains("Remove PDF peak")))
{
modeList.Add("Remove PDF peak");
modeList.Add("Edit PDF points");
modeList.Add("Send PDF peak");
modeList.Add("Move PDF peak");
}
defaultMode = "Send PDF peak";
UpdateDefault(this, new EventArgs());
}
else if (e.Button == MouseButtons.Right)
{
//isDrawing = false;
}
}
public void OnMouseMove(Renderer r, MouseEventArgs e)
{
movePoint = r.ScreenToWorld(e.Location);
if (shouldMove)
{
int enumer = 0;
//enumerstop = 0;
PDFReferencePointRenderer newpoint1 = new PDFReferencePointRenderer();
PDFReferencePointRenderer newpoint2 = new PDFReferencePointRenderer();
PDFReferencePointRenderer newpoint3 = new PDFReferencePointRenderer();
PDFFormRenderer clonePDFRenderer = new PDFFormRenderer();
foreach (PDFReferencePointRenderer pdfRP in PDFrenderer.PDFReferencePointList)
{
if (GhostMovePoint1 == pdfRP)
{
//enumerstop = enumer;
newpoint1.X = movePoint.X + MoveDeltaReferencePoint1.X;
newpoint1.Y = movePoint.Y + MoveDeltaReferencePoint1.Y;
//ghostPoint = newpoint1;
clonePDFRenderer.AddReferencePoint(newpoint1);
}
else if (GhostMovePoint2 == pdfRP)
{
//enumerstop = enumer;
newpoint2.X = movePoint.X + MoveDeltaReferencePoint2.X;
newpoint2.Y = movePoint.Y + MoveDeltaReferencePoint2.Y;
//ghostPoint = newpoint2;
clonePDFRenderer.AddReferencePoint(newpoint2);
}
else if (GhostMovePoint3 == pdfRP)
{
newpoint3.X = movePoint.X + MoveDeltaReferencePoint3.X;
newpoint3.Y = movePoint.Y + MoveDeltaReferencePoint3.Y;
//ghostPoint = newpoint3;
clonePDFRenderer.AddReferencePoint(newpoint3);
enumerstop = enumer;
}
else
{
clonePDFRenderer.AddReferencePoint(PDFrenderer.PDFReferencePointList[enumer]);
}
enumer++;
}
int test = enumerstop;
//clonePDFRenderer.PDFReferencePointList[enumerstop - 2] = newpoint1;
//clonePDFRenderer.PDFReferencePointList[enumerstop - 1] = newpoint2;
//clonePDFRenderer.PDFReferencePointList[enumerstop - 0] = newpoint3;
//if (newpoint1 != null || newpoint2 != null || newpoint3 != null)
//{
PDFrenderer = clonePDFRenderer;
//}
int test2 = enumerstop;
//shouldMove = false;
}
else if (shouldEdit)
{
int enumer = 0;
int enumerstop = 0;
int pointtype = 0;
PDFReferencePointRenderer newpoint = new PDFReferencePointRenderer();
foreach (PDFReferencePointRenderer pdfRP in PDFrenderer.PDFReferencePointList)
{
if (ghostPoint == pdfRP)
{
enumerstop = enumer;
newpoint.X = movePoint.X;
newpoint.Y = movePoint.Y;
ghostPoint = newpoint;
pointtype = enumer % 3;
}
enumer++;
}
if (newpoint != null)
{
Vector2 first = new Vector2(PDFrenderer.PDFReferencePointList[enumerstop - pointtype].X, PDFrenderer.PDFReferencePointList[enumerstop - pointtype].Y);
Vector2 second = new Vector2(PDFrenderer.PDFReferencePointList[enumerstop - pointtype + 1].X, PDFrenderer.PDFReferencePointList[enumerstop - pointtype + 1].Y);
Vector2 third = new Vector2(PDFrenderer.PDFReferencePointList[enumerstop - pointtype + 2].X, PDFrenderer.PDFReferencePointList[enumerstop - pointtype + 2].Y);
Vector2 muHolder = new Vector2(first.X + (second.X - first.X) / 2, first.Y + (second.Y - first.Y) / 2);
double heightHolder = -muHolder.DistanceTo(third);
bool test = true;
if (pointtype == 0)
{
first = new Vector2(newpoint.X, newpoint.Y);
muHolder = new Vector2(first.X + (second.X - first.X) / 2, first.Y + (second.Y - first.Y) / 2);
Vector2 delta = new Vector2(second.X - first.X, second.Y - first.Y);
double thirdPointAngle = delta.ToRadians();
third = new Vector2(muHolder.X + Math.Sin(thirdPointAngle) * heightHolder, muHolder.Y - Math.Cos(thirdPointAngle) * heightHolder);
}
else if (pointtype == 1)
{
second = new Vector2(newpoint.X, newpoint.Y);
muHolder = new Vector2(first.X + (second.X - first.X) / 2, first.Y + (second.Y - first.Y) / 2);
Vector2 delta2 = new Vector2(second.X - first.X, second.Y - first.Y);
double thirdPointAngle = delta2.ToRadians();
third = new Vector2(muHolder.X + Math.Sin(thirdPointAngle) * heightHolder, muHolder.Y - Math.Cos(thirdPointAngle) * heightHolder);
}
else if (pointtype == 2)
{
Vector2 delta = new Vector2(second.X - first.X, second.Y - first.Y);
double thirdPointAngle = delta.ToRadians();
Vector2 delta1 = new Vector2(movePoint.X - first.X, movePoint.Y - first.Y);
angle1 = delta1.ToRadians();
heightHolder = (float)(Math.Sin(thirdPointAngle - angle1) * firstPDFPoint.DistanceTo(new Vector2(movePoint.X, movePoint.Y)));
third = new Vector2(muHolder.X + Math.Sin(thirdPointAngle) * heightHolder, muHolder.Y - Math.Cos(thirdPointAngle) * heightHolder);
}
PDFReferencePointRenderer firstRP = new PDFReferencePointRenderer();
firstRP.X = first.X;
firstRP.Y = first.Y;
PDFReferencePointRenderer secondRP = new PDFReferencePointRenderer();
secondRP.X = second.X;
secondRP.Y = second.Y;
PDFReferencePointRenderer thirdRP = new PDFReferencePointRenderer();
thirdRP.X = third.X;
thirdRP.Y = third.Y;
PDFrenderer.PDFReferencePointList[enumerstop - pointtype] = firstRP;
PDFrenderer.PDFReferencePointList[enumerstop - pointtype + 1] = secondRP;
PDFrenderer.PDFReferencePointList[enumerstop - pointtype + 2] = thirdRP;
if (pointtype == 0)
{
ghostPoint = firstRP;
}
else if (pointtype == 1)
{
ghostPoint = secondRP;
}
else
{
ghostPoint = thirdRP;
}
}
}
else
{
if (firstpointmode && isGenerating)
{
firstPDFPoint = new Vector2(movePoint.X, movePoint.Y);
secondPDFPoint = new Vector2(movePoint.X, movePoint.Y);
height2 = -1;
}
else if (secondpointmode && isGenerating)
{
secondPDFPoint = new Vector2(movePoint.X, movePoint.Y);
height2 = -1;
}
else if (thirdpointmode && isGenerating)
{
Vector2 delta1 = new Vector2(movePoint.X - firstPDFPoint.X, movePoint.Y - firstPDFPoint.Y);
Vector2 delta2 = new Vector2(secondPDFPoint.X - firstPDFPoint.X, secondPDFPoint.Y - firstPDFPoint.Y);
angle1 = delta1.ToRadians();
angle2 = delta2.ToRadians();
height2 = (float)(Math.Sin(angle2 - angle1) * firstPDFPoint.DistanceTo(new Vector2(movePoint.X, movePoint.Y)));
}
}
}
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 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 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 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);
}
}
/// <summary>
/// Drawing code
/// </summary>
/// <param name="r"></param>
public void Draw(Renderer r)
{
if (pointList.Count == 0)
{
UpdatePointList();
}
if ((gestureName == "CIRCLE") || (gestureName == "SQUARE") || (gestureName == "TRIANGLE"))
{
//DrawToolOld.ResetRefPoints();
ctrPtWorld = r.ScreenToWorld(pointList.ElementAt(0));
GLUtility.DrawCircle(new GLPen(Color.Blue, 0.2f), ctrPtWorld, 0.3f);
}
else if (gestureName == "X")
{
//DrawToolOld.ResetRefPoints();
ctrPtWorld = r.ScreenToWorld(pointList.ElementAt(0));
GLUtility.DrawCross(new GLPen(Color.Red, 0.2f), new Vector2(ctrPtWorld.X, ctrPtWorld.Y), 0.5f);
}
else if ((gestureName == "ARROW") || (gestureName == "PATH") || (gestureName == "SENTENCE"))
{
//DrawToolOld.ResetRefPoints();
pthStartWorld = r.ScreenToWorld(pointList.ElementAt(0));
pthEndWorld = r.ScreenToWorld(pointList.ElementAt(1));
GLUtility.DrawCircle(new GLPen(Color.Blue, 0.2f), pthStartWorld, 0.3f);
GLUtility.DrawCross(new GLPen(Color.Red, 0.2f), new Vector2(pthEndWorld.X, pthEndWorld.Y), 0.5f);
}
else
{
//DrawToolOld.ResetRefPoints();
}
if ((gestureName == "PATH") || (gestureName == "SENTENCE"))
{
//DrawToolOld.ResetRefPoints();
ln1StartWorld = r.ScreenToWorld(pointList.ElementAt(2));
ln1EndWorld = r.ScreenToWorld(pointList.ElementAt(3));
ln2StartWorld = r.ScreenToWorld(pointList.ElementAt(4));
ln2EndWorld = r.ScreenToWorld(pointList.ElementAt(5));
ln3StartWorld = r.ScreenToWorld(pointList.ElementAt(6));
ln3EndWorld = r.ScreenToWorld(pointList.ElementAt(7));
GLUtility.DrawLine(new GLPen(Color.Black, 1.0f), ln1StartWorld, ln1EndWorld);
GLUtility.DrawLine(new GLPen(Color.Black, 1.0f), ln2StartWorld, ln2EndWorld);
GLUtility.DrawLine(new GLPen(Color.Black, 1.0f), ln3StartWorld, ln3EndWorld);
}
// draw pixels
if (pixelList.Count > 0)
{
foreach (PointF v3 in drawPixelList)
{
drawPixel.X = ((float)v3.X - (w / 2));
drawPixel.Y = ((float)v3.Y - (h / 2));
drawPixel2.X = ((float)v3.X - (w / 4));
drawPixel2.Y = ((float)v3.Y - (h / 4));
float scale = r.Scale();
pixelRect = new RectangleF((float)drawPixel.X, (float)drawPixel.Y, w, h);
RectangleF pixelRect2 = new RectangleF((float)drawPixel2.X, (float)drawPixel2.Y, w / 2, h / 2);
GLUtility.DrawRectangle(new GLPen(Color.Black, 0.1f), pixelRect);
GLUtility.DrawRectangle(new GLPen(Color.Black, 0.1f), pixelRect2);
}
}
}
/// <summary>
/// Operations to perform on MouseDown (takes: Renderer r, MouseEventArgs e)
/// On single left click:
/// - If not on an existing waypoint, make a new waypoint & execute pathPointAdded event
/// - If on an existing waypoint, change shouldMove to true and keep track of waypoint to move
/// On double left click:
/// - Send path (execute ToolCompleted event) and clear renderer
/// On single right click:
/// - If on an existing waypoint, delete the waypoint
/// On double right click:
/// - delete and clear the entire path
/// </summary>
/// <param name="r"></param>
/// <param name="e"></param>
#region Operations to perform on MouseDown
public void OnMouseDown(Renderer r, MouseEventArgs e)
{
#region Left Click
//check that button was a left click
PointF p = r.ScreenToWorld(e.Location);
if (e.Button == MouseButtons.Left)
{
//PointF p = r.ScreenToWorld(e.Location);
if ((newVersion == true) && (tempActive == true)) // (new version)
{
if (modeNewWaypoint == true)
{
if (newPath.WaypointList.Count > 0)
{
if (!defaultMode.Equals("Send path"))
{
defaultMode = "Send path";
if (UpdateDefault != null)
{
UpdateDefault(this, new EventArgs());
}
}
if (modeMoveWaypoint == true)
{
foreach (WaypointRenderer wp in newPath.WaypointList)
{
// move an existing waypoint if we click sufficiently close to it
if ((p.X - wp.X < 0.25) && (p.Y - wp.Y < 0.25) &&
(p.X - wp.X > -0.25) && (p.Y - wp.Y > -0.25))
{
shouldMove = true;
movePointWP = wp;
origMovePointWP = wp;
currentCursor = Cursors.Hand;
myToolManager.SelectTool.TempDeactivate();
if (GestureExpData != null)
{
GestureExpData(this, new GestureExpHRIEventArgs("Tool:PathTool|left click down|move waypoint from|" + e.X + "|" + e.Y + "|(screen)|" + p.X + "|" + p.Y + "|(world)"));
}
break;
//Tool: SelectTool, mode: Select/Deselect, activated using context menu
}
}
}
}
if (((newPath.WaypointList.Count > 0) && (shouldMove == false)) || (newPath.WaypointList.Count == 0))
{
WaypointRenderer newPoint = new WaypointRenderer();
if (newPath.WaypointList.Count > 0)
{
if (GestureExpData != null)
{
GestureExpData(this, new GestureExpHRIEventArgs("Tool:PathTool|left click down|add waypoint|" + e.X + "|" + e.Y + "|(screen)|" + p.X + "|" + p.Y + "|(world)"));
}
}
else
{
if (GestureExpData != null)
{
GestureExpData(this, new GestureExpHRIEventArgs("Tool:PathTool|left click down|new path|" + e.X + "|" + e.Y + "|(screen)|" + p.X + "|" + p.Y + "|(world)"));
}
}
newPoint.X = p.X;
newPoint.Y = p.Y;
newPath.AddWaypoint(newPoint);
modeMoveWaypoint = true;
if (!defaultMode.Equals("Send path"))
{
defaultMode = "Send path";
if (UpdateDefault != null)
{
UpdateDefault(this, new EventArgs());
}
}
}
shouldDraw = true;
}
else if (modeDeleteWaypoint == true)
{
if (newPath.WaypointList.Count > 0)
{
foreach (WaypointRenderer wp in newPath.WaypointList)
{
// if right click is sufficiently close to an existing waypoint, delete it and excecute pathPointRemoved event
Vector2 v = new Vector2((float)wp.X, (float)wp.Y);
if (!((wp.X - p.X > -.25) && (wp.Y - p.Y > -.25) &&
(wp.X - p.X < .25) && (wp.Y - p.Y < .25)))
{
clonePathWP.AddWaypoint(wp);
}
}
newPath = clonePathWP;
if (GestureExpData != null)
{
GestureExpData(this, new GestureExpHRIEventArgs("Tool:PathTool|left click down|delete waypoint|" + e.X + "|" + e.Y + "|(screen)|" + p.X + "|" + p.Y + "|(world)"));
}
clonePathWP = new PathToRobotRenderer();
}
if (newPath.WaypointList.Count == 0)
{
//defaultMode = "Add new waypoint";
//modeDeleteWaypoint = false;
//modeNewWaypoint = true;
if (UpdateDefault != null)
{
UpdateDefault(this, new EventArgs());
}
}
}
}
}
#endregion
if (e.Button == MouseButtons.Right)
{
//if (GestureExpData != null)
// GestureExpData(this, new GestureExpPathToolEventArgs("Tool:PathTool right click --- " + e.X + " " + e.Y + " (screen) " + p.X + " " + p.Y + " (world)"));
}
}
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;
}
}
}
}
}
}
