// This function uses the fitness function given in FitnessFunction.cs to evaluate all paths of the current generation
public void evaluation()
{
// Creates a Simulation and a rating for each path in the current population and adds it to the ratings List
for (int i = 0; i < populationSize; i++)
{
// Creates a new simulation and runs it
Variables.simulation = new Simulation(Variables.vehicle, population[i].Path);
Variables.simulation.run();
// Gets the rating for the current simulation
population[i].Rating = FitnessFunction.fitness(Variables.simulation.getPath());
if (Variables.popDebugging)
{
population[i].Collisions = Variables.debugCollisions;
population[i].Distances = Variables.debugDistance;
}
// Writes the path to the global Variable for drawing
Variables.path = population[i].Path;
// Draws.
glcontrol.Refresh();
}
}
public void Render()
{
glControl1.Refresh();
}
public void draw()
{
if (Form1.currentX0 != null && Form1.currentY0 != null && Form1.currentZ0 != null)
{
Yoff = (float)Form1.currentY0 - 129.9f;
Xoff = (float)Form1.currentX0 - 289.9f;
Zoff = -(float)Form1.currentZ0 + 140f;
}
addLine();
removePoint();
checkVol();
//GL.Clear(ClearBufferMask.ColorBufferBit | ClearBufferMask.DepthBufferBit);
displayBackground();
float far = 800, near = 50f;
OpenTK.Matrix4 RTMat = new OpenTK.Matrix4(
rotateArr[0], rotateArr[1], rotateArr[2], translateArr[0],
rotateArr[3], rotateArr[4], rotateArr[5], translateArr[1],
rotateArr[6], rotateArr[7], rotateArr[8], translateArr[2],
0, 0, 0, 1);
OpenTK.Matrix4 reverse = new OpenTK.Matrix4(
1, 0, 0, 0,
0, -1, 0, 0,
0, 0, -1, 0,
0, 0, 0, 1);
//not sure if needed
OpenTK.Matrix4 landscape = new OpenTK.Matrix4(
0, 1, 0, 0,
-1, 0, 0, 0,
0, 0, 1, 0,
0, 0, 0, 1);
OpenTK.Matrix4 projection = new OpenTK.Matrix4(
2 * cameraPar[0] / 816f, 0, 1 - (2 * cameraPar[2] / 816f), 0,
0, 2 * cameraPar[4] / 612f, -1 + (2 * cameraPar[5] + 2) / 612f, 0,
0, 0, -(far + near) / (far - near), -2 * far * near / (far - near),
0, 0, -1, 0);
OpenTK.Matrix4 projT = new OpenTK.Matrix4(
2 * cameraPar[0] / 816f, 0, 1 - (2 * cameraPar[2] / 816f), 0,
0, 2 * cameraPar[4] / 612f, -1 + (2 * cameraPar[5] + 2) / 612f, 0,
0, 0, -(far + near) / (far - near), -2 * far * near / (far - near),
0, 0, -1, 0);
projT.Transpose();
OpenTK.Matrix4 mvMat = OpenTK.Matrix4.Mult(reverse, RTMat);
OpenTK.Matrix4 projMat2 = OpenTK.Matrix4.Mult(landscape, projection);
OpenTK.Matrix4 mvp = OpenTK.Matrix4.Mult(projection, mvMat);
// render graphics
GL.MatrixMode(MatrixMode.Projection);
GL.LoadIdentity();
GL.LoadMatrix(ref projT.Row0.X);
mvMat.Transpose();
GL.MatrixMode(MatrixMode.Modelview);
GL.LoadIdentity();
GL.LoadMatrix(ref mvMat.Row0.X);
/*
* GL.LineWidth(2.5f);
* GL.PolygonMode(MaterialFace.FrontAndBack, PolygonMode.Line);
* GL.Color3(Color.Green);
* GL.Begin(PrimitiveType.Lines);
* GL.Vertex3(0, 0, 0);
* GL.Vertex3(0, 0, 100);
*
* GL.End();
*
* GL.Color3(Color.Aqua);
* GL.Begin(PrimitiveType.Lines);
* GL.Vertex3(0, 0, 0);
* GL.Vertex3(0, 31, 0);
*
*
* GL.Color3(Color.Yellow);
* GL.Begin(PrimitiveType.Lines);
* GL.Vertex3(31, 0, 0);
* GL.Vertex3(0, 0, 0);
*
* GL.End();
*/
if (camInit == true)
{
if (Form1.axisDisplay)
{
if (Form1.currentX0 != null && Form1.currentY0 != null && Form1.currentZ0 != null)
{
GL.LineWidth(5.5f);
GL.PolygonMode(MaterialFace.FrontAndBack, PolygonMode.Line);
GL.Color3(.99f, 0.1f, 0.1f);
GL.Begin(PrimitiveType.Lines);
GL.Vertex3(Xoff, Yoff, Zoff);
GL.Vertex3(Xoff, Yoff, Zoff + 93);
GL.End();
GL.Color3(0.1f, 0.99f, 0.1f);
GL.Begin(PrimitiveType.Lines);
GL.Vertex3(Xoff, Yoff, Zoff);
GL.Vertex3(Xoff - 93, Yoff, Zoff);
GL.Color3(.1f, 0.1f, 0.99f);
GL.Begin(PrimitiveType.Lines);
GL.Vertex3(Xoff, Yoff, Zoff);
GL.Vertex3(Xoff, Yoff - 93, Zoff);
GL.End();
}
}
if (Form1.physicalToolpath)
{
foreach (line ln in lineList)
{
GL.LineWidth(2.5f);
GL.Color3(Color.Blue);
GL.Begin(PrimitiveType.Lines);
GL.Vertex3(-ln.startX + Form1.currentX0.Value + 188 + toolXoff - 289.9, -ln.startY + Form1.currentY0.Value + toolYoff + 50 - 129.9, (ln.startZ - Form1.currentZ0.Value + 140 - toolZoff));
GL.Vertex3(-ln.endX + Form1.currentX0.Value + 188 + toolXoff - 289.9, -ln.endY + Form1.currentY0.Value + toolYoff + 50 - 129.9, (ln.endZ - Form1.currentZ0.Value + 140 - toolZoff));
GL.End();
}
}
if (Form1.tooltipDisplay)
{
GL.LineWidth(20f);
line Drill = new line(Form1.currentX0.Value, Form1.currentY0.Value, Form1.currentZ0.Value, Form1.currentX0.Value, Form1.currentY0.Value, Form1.currentZ0.Value + 50);
GL.Color3(Color.Silver);
GL.Begin(PrimitiveType.Lines);
GL.Vertex3(-Drill.startX + Form1.currentX0.Value + 188 + toolXoff - 289.9, -Drill.startY + Form1.currentY0.Value + toolYoff + 50 - 129.9, (Drill.startZ - Form1.currentZ0.Value + 140 - toolZoff));
GL.Vertex3(-Drill.endX + Form1.currentX0.Value + 188 + toolXoff - 289.9, -Drill.endY + Form1.currentY0.Value + toolYoff + 50 - 129.9, (Drill.endZ - Form1.currentZ0.Value + 140 - toolZoff));
GL.End();
}
GL.Enable(EnableCap.DepthTest);
GL.DepthFunc(DepthFunction.Lequal);
GL.BlendFunc(BlendingFactorSrc.SrcAlpha, BlendingFactorDest.OneMinusSrcAlpha);
GL.Enable(EnableCap.Blend);
if (Form1.badVolDisplay)
{
foreach (badVolume badVol in badVolumes)
{
Color a = Color.FromArgb(160, 255, 0, 0);
Color b = Color.FromArgb(160, 225, 25, 25);
Color c = Color.FromArgb(160, 195, 50, 50);
Color d = Color.FromArgb(160, 225, 25, 25);
GL.PolygonMode(MaterialFace.FrontAndBack, PolygonMode.Fill);
GL.Begin(PrimitiveType.Quads);
GL.Color4(a);
GL.Vertex3(badVol.xMax + Xoff - 180, badVol.yMax + Yoff - 50, badVol.zMax + Zoff);
GL.Color4(b);
GL.Vertex3(badVol.xMin + Xoff - 180, badVol.yMax + Yoff - 50, badVol.zMax + Zoff);
GL.Color4(c);
GL.Vertex3(badVol.xMin + Xoff - 180, badVol.yMin + Yoff - 50, badVol.zMax + Zoff);
GL.Color4(d);
GL.Vertex3(badVol.xMax + Xoff - 180, badVol.yMin + Yoff - 50, badVol.zMax + Zoff);
GL.End();
GL.Begin(PrimitiveType.Quads);
GL.Color4(a);
GL.Vertex3(badVol.xMax + Xoff - 180, badVol.yMax + Yoff - 50, badVol.zMax + Zoff);
GL.Color4(b);
GL.Vertex3(badVol.xMin + Xoff - 180, badVol.yMax + Yoff - 50, badVol.zMax + Zoff);
GL.Color4(c);
GL.Vertex3(badVol.xMin + Xoff - 180, badVol.yMax + Yoff - 50, badVol.zMin + Zoff);
GL.Color4(d);
GL.Vertex3(badVol.xMax + Xoff - 180, badVol.yMax + Yoff - 50, badVol.zMin + Zoff);
GL.End();
GL.Begin(PrimitiveType.Quads);
GL.Color4(a);
GL.Vertex3(badVol.xMax + Xoff - 180, badVol.yMax + Yoff - 50, badVol.zMax + Zoff);
GL.Color4(b);
GL.Vertex3(badVol.xMax + Xoff - 180, badVol.yMin + Yoff - 50, badVol.zMax + Zoff);
GL.Color4(c);
GL.Vertex3(badVol.xMax + Xoff - 180, badVol.yMin + Yoff - 50, badVol.zMin + Zoff);
GL.Color4(d);
GL.Vertex3(badVol.xMax + Xoff - 180, badVol.yMax + Yoff - 50, badVol.zMin + Zoff);
GL.End();
GL.Begin(PrimitiveType.Quads);
GL.Color4(a);
GL.Vertex3(badVol.xMin + Xoff - 180, badVol.yMin + Yoff - 50, badVol.zMin + Zoff);
GL.Color4(b);
GL.Vertex3(badVol.xMax + Xoff - 180, badVol.yMin + Yoff - 50, badVol.zMin + Zoff);
GL.Color4(c);
GL.Vertex3(badVol.xMax + Xoff - 180, badVol.yMax + Yoff - 50, badVol.zMin + Zoff);
GL.Color4(d);
GL.Vertex3(badVol.xMin + Xoff - 180, badVol.yMax + Yoff - 50, badVol.zMin + Zoff);
GL.End();
GL.Begin(PrimitiveType.Quads);
GL.Color4(a);
GL.Vertex3(badVol.xMin + Xoff - 180, badVol.yMin + Yoff - 50, badVol.zMin + Zoff);
GL.Color4(b);
GL.Vertex3(badVol.xMax + Xoff - 180, badVol.yMin + Yoff - 50, badVol.zMin + Zoff);
GL.Color4(c);
GL.Vertex3(badVol.xMax + Xoff - 180, badVol.yMin + Yoff - 50, badVol.zMax + Zoff);
GL.Color4(d);
GL.Vertex3(badVol.xMin + Xoff - 180, badVol.yMin + Yoff - 50, badVol.zMax + Zoff);
GL.End();
GL.Begin(PrimitiveType.Quads);
GL.Color4(a);
GL.Vertex3(badVol.xMin + Xoff - 180, badVol.yMin + Yoff - 50, badVol.zMin + Zoff);
GL.Color4(b);
GL.Vertex3(badVol.xMin + Xoff - 180, badVol.yMax + Yoff - 50, badVol.zMin + Zoff);
GL.Color4(c);
GL.Vertex3(badVol.xMin + Xoff - 180, badVol.yMax + Yoff - 50, badVol.zMax + Zoff);
GL.Color4(d);
GL.Vertex3(badVol.xMin + Xoff - 180, badVol.yMin + Yoff - 50, badVol.zMax + Zoff);
GL.End();
Color black = Color.FromArgb(0, 0, 0);
GL.PolygonMode(MaterialFace.FrontAndBack, PolygonMode.Line);
GL.Color4(black);
GL.LineWidth(1.2f);
GL.Begin(PrimitiveType.LineLoop);
GL.Vertex3(badVol.xMax + Xoff - 180, badVol.yMax + Yoff - 50, badVol.zMax + Zoff);
GL.Vertex3(badVol.xMin + Xoff - 180, badVol.yMax + Yoff - 50, badVol.zMax + Zoff);
GL.Vertex3(badVol.xMin + Xoff - 180, badVol.yMin + Yoff - 50, badVol.zMax + Zoff);
GL.Vertex3(badVol.xMax + Xoff - 180, badVol.yMin + Yoff - 50, badVol.zMax + Zoff);
GL.End();
GL.Begin(PrimitiveType.LineLoop);
GL.Vertex3(badVol.xMax + Xoff - 180, badVol.yMax + Yoff - 50, badVol.zMax + Zoff);
GL.Vertex3(badVol.xMin + Xoff - 180, badVol.yMax + Yoff - 50, badVol.zMax + Zoff);
GL.Vertex3(badVol.xMin + Xoff - 180, badVol.yMax + Yoff - 50, badVol.zMin + Zoff);
GL.Vertex3(badVol.xMax + Xoff - 180, badVol.yMax + Yoff - 50, badVol.zMin + Zoff);
GL.End();
GL.Begin(PrimitiveType.LineLoop);
GL.Vertex3(badVol.xMax + Xoff - 180, badVol.yMax + Yoff - 50, badVol.zMax + Zoff);
GL.Vertex3(badVol.xMax + Xoff - 180, badVol.yMin + Yoff - 50, badVol.zMax + Zoff);
GL.Vertex3(badVol.xMax + Xoff - 180, badVol.yMin + Yoff - 50, badVol.zMin + Zoff);
GL.Vertex3(badVol.xMax + Xoff - 180, badVol.yMax + Yoff - 50, badVol.zMin + Zoff);
GL.End();
GL.Begin(PrimitiveType.LineLoop);
GL.Vertex3(badVol.xMin + Xoff - 180, badVol.yMin + Yoff - 50, badVol.zMin + Zoff);
GL.Vertex3(badVol.xMax + Xoff - 180, badVol.yMin + Yoff - 50, badVol.zMin + Zoff);
GL.Vertex3(badVol.xMax + Xoff - 180, badVol.yMax + Yoff - 50, badVol.zMin + Zoff);
GL.Vertex3(badVol.xMin + Xoff - 180, badVol.yMax + Yoff - 50, badVol.zMin + Zoff);
GL.End();
GL.Begin(PrimitiveType.LineLoop);
GL.Vertex3(badVol.xMin + Xoff - 180, badVol.yMin + Yoff - 50, badVol.zMin + Zoff);
GL.Vertex3(badVol.xMax + Xoff - 180, badVol.yMin + Yoff - 50, badVol.zMin + Zoff);
GL.Vertex3(badVol.xMax + Xoff - 180, badVol.yMin + Yoff - 50, badVol.zMax + Zoff);
GL.Vertex3(badVol.xMin + Xoff - 180, badVol.yMin + Yoff - 50, badVol.zMax + Zoff);
GL.End();
GL.Begin(PrimitiveType.LineLoop);
GL.Vertex3(badVol.xMin + Xoff - 180, badVol.yMin + Yoff - 50, badVol.zMin + Zoff);
GL.Vertex3(badVol.xMin + Xoff - 180, badVol.yMax + Yoff - 50, badVol.zMin + Zoff);
GL.Vertex3(badVol.xMin + Xoff - 180, badVol.yMax + Yoff - 50, badVol.zMax + Zoff);
GL.Vertex3(badVol.xMin + Xoff - 180, badVol.yMin + Yoff - 50, badVol.zMax + Zoff);
GL.End();
GL.End();
}
}
GL.LineWidth(1.8f);
if (Form1.matRemove)
{
wp.draw();
wp.draw2();
}
if (Form1.cadModel)
{
Color black = Color.FromArgb(0, 0, 0);
Color a = Color.FromArgb(160, 119, 136, 153);
Color b = Color.FromArgb(160, 112, 138, 144);
Color c = Color.FromArgb(160, 49, 79, 79);
GL.LineWidth(1.0f);
foreach (stlObj obj in objects)
{
object[] facetArray = obj.facets.ToArray();
for (int i = 0; i < obj.facetNum - 1; i++)
{
GL.PolygonMode(MaterialFace.FrontAndBack, PolygonMode.Fill);
Object fcet = (facet)facetArray[i];
GL.Begin(PrimitiveType.Triangles);
facet fct = (facet)fcet;
if (Form1.currentX0 != null && Form1.currentY0 != null && Form1.currentZ0 != null)
{
GL.Color4(a);
GL.Vertex3(-fct.points[0].x + Xoff, -fct.points[0].y + Yoff, fct.points[0].z + Zoff);
GL.Color4(b);
GL.Vertex3(-fct.points[1].x + Xoff, -fct.points[1].y + Yoff, fct.points[1].z + Zoff);
GL.Color4(c);
GL.Vertex3(-fct.points[2].x + Xoff, -fct.points[2].y + Yoff, fct.points[2].z + Zoff);
GL.End();
}
else
{
GL.Color4(a);
GL.Vertex3(-fct.points[0].x, -fct.points[0].y, fct.points[0].z);
GL.Color4(b);
GL.Vertex3(-fct.points[1].x, -fct.points[1].y, fct.points[1].z);
GL.Color4(c);
GL.Vertex3(-fct.points[2].x, -fct.points[2].y, fct.points[2].z);
GL.End();
}
GL.PolygonMode(MaterialFace.FrontAndBack, PolygonMode.Line);
GL.Color4(black);
GL.Begin(PrimitiveType.LineLoop);
GL.Vertex3(-fct.points[0].x + Xoff, -fct.points[0].y + Yoff, fct.points[0].z + Zoff);
GL.Vertex3(-fct.points[1].x + Xoff, -fct.points[1].y + Yoff, fct.points[1].z + Zoff);
GL.Vertex3(-fct.points[2].x + Xoff, -fct.points[2].y + Yoff, fct.points[2].z + Zoff);
GL.End();
}
}
}
GL.Disable(EnableCap.Blend);
}
glControl1.Refresh();// redraws and updates
glControl1.SwapBuffers();
}
void RefreshRenderer()
{
Renderer.Refresh();
}
