/// <summary> /// Draws player representation to screen. /// </summary> public static void DrawDebugPlayer(DebugViewXNA debugView, Player player) { // draw player circle debugView.DrawCircle(player.Position, 20, Color.Blue); // Draw facing direction var directionVector = new Vector2((float)Math.Cos(player.Rotation), (float)Math.Sin(player.Rotation)); debugView.DrawArrow(player.Position, player.Position + directionVector * 50, 25, 25, true, Color.Blue); // Draw player text var fontPos = FontToMapPosition(player.Position) + new Vector2(20, -20);// + (debugView.) debugView.DrawString((fontPos - FontLineSpacing * 4), string.Format("Name:{0}", player.Name)); debugView.DrawString((fontPos - FontLineSpacing * 3), string.Format("Id:{0}", player.UniqueID)); debugView.DrawString((fontPos - FontLineSpacing * 2), string.Format("Position:{0}", player.Position)); }
public override void Draw(DebugViewXNA draw) { if (NextWaypointIndex >= Path.Count && FrontPath != null) { float noop; } float topSpeed = Velocities == null ? MaxSpeed : Velocities.Max(); for (int i = 0; i < Path.Count - 1; i++) { Color color = Color.Lerp(Color.Red, Color.Green, Velocities[i + 1] / topSpeed); draw.DrawSegment(Path[i].Position, Path[i + 1].Position, color, 0.04f); } foreach (int index in stoppingPoints) { draw.DrawCircle(Path[index].Position, 0.2f, Color.Red); } }
protected override void Draw(GameTime gameTime) { GraphicsDevice.Clear(backgroundLight ? LIGHT : DARK); Matrix p = camera.Projection; Matrix v = camera.View; if (cameraView == 2) { float orientation = controller != null && controller.InReverse ? car.Pose.Orientation + MathHelper.Pi : car.Pose.Orientation; Vector2 position = Car.GetCenterPosition(car.Pose); Vector2 headingVector = new Vector2((float)Math.Cos(orientation), (float)Math.Sin(orientation)); float offset = 14f; float height = 10f; v = Matrix.CreateLookAt(new Vector3(position + -offset * headingVector, height), new Vector3(position + offset * headingVector, 0f), Vector3.UnitZ); } else if (cameraView == 3) { float or = car.Pose.Orientation + MathHelper.ToRadians(120f); Vector2 headingVector = new Vector2((float)Math.Cos(or), (float)Math.Sin(or)); v = Matrix.CreateLookAt(new Vector3(car.Pose.Position + -10f * headingVector, 5f), new Vector3(Car.GetCenterPosition(car.Pose), 0f), Vector3.UnitZ); } else if (cameraView == 4) { float or = goalPose.Orientation; Vector2 headingVector = new Vector2((float)Math.Cos(or), (float)Math.Sin(or)); v = Matrix.CreateLookAt(new Vector3(goalPose.Position + 10f * headingVector, 20f), new Vector3(Car.GetCenterPosition(car.Pose), 0f), Vector3.UnitZ); } else if (cameraView == 5) { v = Matrix.CreateLookAt(new Vector3(Car.GetCenterPosition(car.Pose), 20f), new Vector3(Car.GetCenterPosition(car.Pose), 0f), Vector3.UnitY); if (rotateCar) { v *= Matrix.CreateRotationZ(-car.Body.Rotation + MathHelper.PiOver2); } } if (gridDone && (drawGrid || drawVoro || drawHeur)) { basicEffect.World = Matrix.Identity; basicEffect.View = v; basicEffect.Projection = p; spriteBatch.Begin(0, null, SamplerState.PointClamp, DepthStencilState.DepthRead, RasterizerState.CullNone, basicEffect); if (drawHeur) { HybridAStar.Draw(spriteBatch); } else { grid.Draw(spriteBatch, drawVoro); } spriteBatch.End(); } debug.BeginCustomDraw(ref p, ref v); debug.DrawSolidCircle(Car.GetFrontAxlePosition(car.Pose), 0.2f, Color.Green); if ((pathSearching && watchSearch || pathSearchingDone && drawSearch) && HybridAStar.Expanded != null && HybridAStar.Expanded.Count > 0) { LinkedList <HybridAStar.Node> expanded = new LinkedList <HybridAStar.Node>(); lock (HybridAStar.Expanded) { expanded.AddAll(HybridAStar.Expanded); } float pathLength = expanded.Last.f; foreach (HybridAStar.Node n in expanded) { if (pathDone && n.rsIndex >= 0) { for (int i = n.rsIndex; i < poses.Count - 1; i++) { debug.DrawSegment(poses[i].Position, poses[i + 1].Position, Color.Purple, 0.02f); } } else if (n.from != null) { Color color; if (n.cell.rev == 0) { color = Color.Lerp(Color.Orange, Color.Green, n.g / pathLength); } else { color = Color.Lerp(Color.Blue, Color.Cyan, n.g / pathLength); } debug.DrawSegment(n.from.pose.Position, n.pose.Position, color, 0.02f); } } } if (pathDone) { if (drawPath) { for (int i = 0; i < poses.Count - 1; i++) { Color c = poses[i].Gear == Gear.Forward ? Color.Blue : Color.Red; debug.DrawSegment(poses[i].Position, poses[i + 1].Position, c, 0.04f); debug.DrawPoint(poses[i].Position, 0.1f, c * 0.5f); } } } if (pathSearchingDone && !pathSmoothDone && (drawSmoothedPath || drawController)) { Smoother.Draw(debug); } if (pathSmoothDone) { if (drawFrontPath && controller.FrontPath != null) { int num = controller.FrontPath.Count; for (int i = 0; i < num - 1; i++) { if (controller.FrontPath[i].Gear == Gear.Forward) { debug.DrawSegment(controller.FrontPath[i].Position, controller.FrontPath[i + 1].Position, Color.DarkOrange); } else { debug.DrawSegment(controller.ReverseFrontPath[i].Position, controller.ReverseFrontPath[i + 1].Position, Color.Cyan); } } } if (drawSmoothedPath) { for (int i = 0; i < smoothedPath.Count - 1; i++) { debug.DrawSegment(smoothedPath[i].Position, smoothedPath[i + 1].Position, smoothedPath[i].Gear == Gear.Forward ? Color.DarkGreen : Color.Red, 0.04f); //if (Smoother.UnsafeIndices != null && Smoother.UnsafeIndices.Contains(i)) //debug.DrawCircle(smoothedPath[i].Position, 0.2f, Color.Orange); } } if (drawController) { controller.Draw(debug); } } if (drawStart) { startPose.DrawPose(debug, new Color(0f, 1f, 0f, 0.9f), 1.1f); } if (drawGoal) { goalPose.DrawPose(debug, new Color(1f, 0f, 0f, 0.9f), 1.1f); } if (drawCurrent) { if (pathSmoothDone && controller.State != StanleyFSMController.ControllerState.MissionComplete) { debug.DrawCircle(controller.ClosestPoint, 0.1f, controller.InReverse ? Color.Aqua : Color.Orange); if (controller.InReverse) { debug.DrawCircle(controller.FakeFrontAxle, 0.2f, Color.Aqua); } } car.Pose.DrawPose(debug, 0.2f, Color.Red); } debug.EndCustomDraw(); if (drawDebugData) { debug.RenderDebugData(ref p, ref v); } if (drawCar) { car.Draw(v, p); } if (showDebugInfo) { string info = String.Format("Speed: {0:0.0}", Math.Round(car.SpeedMPH, 1)); if (pathSmoothDone) { info += String.Format("\nGas: {0:0.00}", Math.Round(currentControls.Gas * 100f, 2)); info += String.Format("\nBrake: {0:0.00}", Math.Round(currentControls.Brake * 100f, 2)); info += String.Format("\nCTE: {0:0.0000}", Math.Round(controller.CrossTrackError, 4)); info += "\n" + controller.State.ToString(); info += "\n" + controller.DebugInfo; } spriteBatch.Begin(); spriteBatch.DrawString(font, info, new Vector2(8, 4), !backgroundLight ? LIGHT : DARK); spriteBatch.End(); } if (showDashboard) { dashboard.Draw(gameTime); } base.Draw(gameTime); }
public override void Draw(DebugViewXNA draw) { if (NextWaypointIndex >= Path.Count && FrontPath != null) { float noop; } float topSpeed = Velocities == null ? MaxSpeed : Velocities.Max(); for (int i = 0; i < Path.Count - 1; i++) { Color color = Color.Lerp(Color.Red, Color.Green, Velocities[i + 1] / topSpeed); draw.DrawSegment(Path[i].Position, Path[i + 1].Position, color, 0.04f); } foreach (int index in stoppingPoints) { draw.DrawCircle(Path[index].Position, 0.2f, Color.Red); } }