private void openGLHead_OpenGLDraw(object sender, SharpGL.RenderEventArgs args)
{
OpenGL glh = openGLHead.OpenGL;
glh.Clear(OpenGL.GL_COLOR_BUFFER_BIT | OpenGL.GL_DEPTH_BUFFER_BIT); // Clear The Screen And The Depth Buffer
glh.LoadIdentity(); // Reset The View
CalculateMinMax();
//back the camera up
glh.Translate(0, 0, -maxFieldDistance);
//rotate camera so heading matched fix heading in the world
//glh.Rotate(glm.toDegrees(toolPos.heading), 0, 0, 1);
//translate to that spot in the world
glh.Translate(-fieldCenterX, -fieldCenterY, 0);
//calculate the frustum for the section control window
mf.CalcFrustum(glh);
//to draw or not the triangle patch
bool isDraw;
glh.Color(0.2f, 0.5f, 0.4f);
//draw patches j= # of sections
for (int j = 0; j < mf.vehicle.numSuperSection; j++)
{
//every time the section turns off and on is a new patch
int patchCount = mf.section[j].patchList.Count;
if (patchCount > 0)
{
//for every new chunk of patch
foreach (var triList in mf.section[j].patchList)
{
isDraw = false;
int count2 = triList.Count;
for (int i = 0; i < count2; i += 3)
{
//determine if point is in frustum or not since 2d only 4 planes required
if ((mf.frustum[0] * triList[i].easting) + (mf.frustum[1] * triList[i].northing) + mf.frustum[3] <= 0)
{
continue;//right
}
if ((mf.frustum[4] * triList[i].easting) + (mf.frustum[5] * triList[i].northing) + mf.frustum[7] <= 0)
{
continue;//left
}
if ((mf.frustum[16] * triList[i].easting) + (mf.frustum[17] * triList[i].northing) + mf.frustum[19] <= 0)
{
continue;//bottom
}
if ((mf.frustum[20] * triList[i].easting) + (mf.frustum[21] * triList[i].northing) + mf.frustum[23] <= 0)
{
continue;//top
}
//point is in frustum so draw the entire patch
isDraw = true;
break;
}
if (isDraw)
{
//draw the triangle in each triangle strip
glh.Begin(OpenGL.GL_TRIANGLE_STRIP);
count2 = triList.Count;
const int mipmap = 8;
//if large enough patch and camera zoomed out, fake mipmap the patches, skip triangles
if (count2 >= (mipmap + 2))
{
int step = mipmap;
for (int i = 0; i < count2; i += step)
{
glh.Vertex(triList[i].easting, triList[i].northing, 0); i++;
glh.Vertex(triList[i].easting, triList[i].northing, 0); i++;
//too small to mipmap it
if (count2 - i <= (mipmap + 2))
{
step = 0;
}
}
}
else
{
for (int i = 0; i < count2; i++)
{
glh.Vertex(triList[i].easting, triList[i].northing, 0);
}
}
glh.End();
}
}
}
} //end of section patches
glh.PointSize(8.0f);
glh.Begin(OpenGL.GL_POINTS);
glh.Color(0.05f, 0.90f, 0.60f);
#pragma warning disable CS1690 // Accessing a member on a field of a marshal-by-reference class may cause a runtime exception
glh.Vertex(mf.pivotAxlePos.easting, mf.pivotAxlePos.northing, 0.0);
#pragma warning restore CS1690 // Accessing a member on a field of a marshal-by-reference class may cause a runtime exception
glh.End();
//set pointsize
glh.PointSize(4.0f);
////draw the outside boundary
int ptCount = mf.boundz.ptList.Count;
if (ptCount > 0)
{
glh.Color(0.98f, 0.2f, 0.90f);
glh.Begin(OpenGL.GL_POINTS);
for (int h = 0; h < ptCount; h++)
{
glh.Vertex(mf.boundz.ptList[h].easting, mf.boundz.ptList[h].northing, 0);
}
glh.End();
}
////draw the headland line so far
ptCount = mf.hl.ptList.Count;
if (ptCount > 0)
{
glh.Color(0.9038f, 0.9892f, 0.10f);
glh.Begin(OpenGL.GL_POINTS);
for (int h = 0; h < ptCount; h++)
{
glh.Vertex(mf.hl.ptList[h].easting, mf.hl.ptList[h].northing, 0);
}
glh.End();
}
//plot the touch points so far
if (isDrawingHeadland)
{
////draw the headland line so far
ptCount = mf.hl.ptList.Count;
if (ptCount > 0)
{
glh.Color(0.08f, 0.9892f, 0.2710f);
glh.Begin(OpenGL.GL_LINE_STRIP);
for (int h = 0; h < ptCount; h++)
{
glh.Vertex(mf.hl.ptList[h].easting, mf.hl.ptList[h].northing, 0);
}
glh.End();
glh.Color(0.978f, 0.392f, 0.10f);
//the "close the loop" line
glh.Begin(OpenGL.GL_LINE_STRIP);
glh.Vertex(mf.hl.ptList[ptCount - 1].easting, mf.hl.ptList[ptCount - 1].northing, 0);
glh.Vertex(mf.hl.ptList[0].easting, mf.hl.ptList[0].northing, 0);
glh.End();
}
}
glh.PointSize(1.0f);
}
private void openGLHead_OpenGLDraw(object sender, SharpGL.RenderEventArgs args)
{
OpenGL glh = openGLHead.OpenGL;
glh.Clear(OpenGL.GL_COLOR_BUFFER_BIT | OpenGL.GL_DEPTH_BUFFER_BIT); // Clear The Screen And The Depth Buffer
glh.LoadIdentity(); // Reset The View
CalculateMinMax();
//back the camera up
glh.Translate(0, 0, -maxFieldDistance);
//translate to that spot in the world
glh.Translate(-fieldCenterX, -fieldCenterY, 0);
//calculate the frustum for the section control window
mf.CalcFrustum(glh);
//to draw or not the triangle patch
bool isDraw;
glh.Color(0.2f, 0.5f, 0.4f);
//draw patches j= # of sections
for (int j = 0; j < mf.vehicle.numSuperSection; j++)
{
//every time the section turns off and on is a new patch
int patchCount = mf.section[j].patchList.Count;
if (patchCount > 0)
{
//for every new chunk of patch
foreach (var triList in mf.section[j].patchList)
{
isDraw = false;
int count2 = triList.Count;
for (int i = 0; i < count2; i += 3)
{
//determine if point is in frustum or not since 2d only 4 planes required
if ((mf.frustum[0] * triList[i].easting) + (mf.frustum[1] * triList[i].northing) + mf.frustum[3] <= 0)
{
continue;//right
}
if ((mf.frustum[4] * triList[i].easting) + (mf.frustum[5] * triList[i].northing) + mf.frustum[7] <= 0)
{
continue;//left
}
if ((mf.frustum[16] * triList[i].easting) + (mf.frustum[17] * triList[i].northing) + mf.frustum[19] <= 0)
{
continue;//bottom
}
if ((mf.frustum[20] * triList[i].easting) + (mf.frustum[21] * triList[i].northing) + mf.frustum[23] <= 0)
{
continue;//top
}
//point is in frustum so draw the entire patch
isDraw = true;
break;
}
if (isDraw)
{
//draw the triangle in each triangle strip
glh.Begin(OpenGL.GL_TRIANGLE_STRIP);
count2 = triList.Count;
const int mipmap = 8;
//if large enough patch and camera zoomed out, fake mipmap the patches, skip triangles
if (count2 >= (mipmap + 2))
{
int step = mipmap;
for (int i = 0; i < count2; i += step)
{
glh.Vertex(triList[i].easting, triList[i].northing, 0); i++;
glh.Vertex(triList[i].easting, triList[i].northing, 0); i++;
//too small to mipmap it
if (count2 - i <= (mipmap + 2))
{
step = 0;
}
}
}
else
{
for (int i = 0; i < count2; i++)
{
glh.Vertex(triList[i].easting, triList[i].northing, 0);
}
}
glh.End();
}
}
}
} //end of section patches
//the vehicle position
glh.PointSize(8.0f);
glh.Begin(OpenGL.GL_POINTS);
glh.Color(0.95f, 0.90f, 0.60f);
#pragma warning disable CS1690 // Accessing a member on a field of a marshal-by-reference class may cause a runtime exception
glh.Vertex(mf.pivotAxlePos.easting, mf.pivotAxlePos.northing, 0.0);
#pragma warning restore CS1690 // Accessing a member on a field of a marshal-by-reference class may cause a runtime exception
glh.End();
////draw the outside boundary
glh.LineWidth(2);
int ptCount = 0;
for (int i = 0; i < FormGPS.MAXBOUNDARIES; i++)
{
ptCount = mf.bndArr[i].bndLine.Count;
if (ptCount > 0)
{
glh.Color(0.98f, 0.2f, 0.90f);
glh.Begin(OpenGL.GL_LINE_STRIP);
for (int h = 0; h < ptCount; h++)
{
glh.Vertex(mf.bndArr[i].bndLine[h].easting, mf.bndArr[i].bndLine[h].northing, 0);
}
//the "close the loop" line
//glh.LineWidth(4);
glh.Color(0.0f, 0.990f, 0.0f);
glh.Vertex(mf.bndArr[i].bndLine[ptCount - 1].easting, mf.bndArr[i].bndLine[ptCount - 1].northing, 0);
glh.Vertex(mf.bndArr[i].bndLine[0].easting, mf.bndArr[i].bndLine[0].northing, 0);
glh.End();
}
}
////draw the headland line
for (int i = 0; i < FormGPS.MAXHEADS; i++)
{
if (mf.hlArr[i].isSet)
{
ptCount = mf.hlArr[i].hlLine.Count;
glh.PointSize(4.0f);
if (ptCount > 0)
{
glh.Color(0.009038f, 0.9892f, 0.10f);
glh.Begin(OpenGL.GL_POINTS);
for (int h = 0; h < ptCount; h++)
{
glh.Vertex(mf.hlArr[i].hlLine[h].easting, mf.hlArr[i].hlLine[h].northing, 0);
}
glh.End();
}
}
}
//plot the touch points so far
if (isDrawingHeadland)
{
//////draw the headland line so far
//ptCount = mf.hl.hlLine.Count;
//if (ptCount > 0)
//{
// glh.Color(0.08f, 0.9892f, 0.2710f);
// glh.Begin(OpenGL.GL_LINE_STRIP);
// for (int h = 0; h < ptCount; h++) glh.Vertex(mf.hl.hlLine[h].easting, mf.hl.hlLine[h].northing, 0);
// glh.Color(0.978f, 0.392f, 0.10f);
// //the "close the loop" line
// glh.Vertex(mf.hl.hlLine[ptCount - 1].easting, mf.hl.hlLine[ptCount - 1].northing, 0);
// glh.Vertex(mf.hl.hlLine[0].easting, mf.hl.hlLine[0].northing, 0);
// glh.End();
//}
}
//draw the ABLine
if (mf.ABLine.isABLineSet | mf.ABLine.isABLineBeingSet)
{
//Draw reference AB line
glh.LineWidth(1);
glh.Enable(OpenGL.GL_LINE_STIPPLE);
glh.LineStipple(1, 0x00F0);
glh.Begin(OpenGL.GL_LINES);
glh.Color(0.9f, 0.45f, 0.87f);
glh.Vertex(mf.ABLine.refABLineP1.easting, mf.ABLine.refABLineP1.northing, 0);
glh.Vertex(mf.ABLine.refABLineP2.easting, mf.ABLine.refABLineP2.northing, 0);
glh.End();
glh.Disable(OpenGL.GL_LINE_STIPPLE);
//raw current AB Line
glh.Begin(OpenGL.GL_LINES);
glh.Color(0.9f, 0.0f, 0.50f);
glh.Vertex(mf.ABLine.currentABLineP1.easting, mf.ABLine.currentABLineP1.northing, 0.0);
glh.Vertex(mf.ABLine.currentABLineP2.easting, mf.ABLine.currentABLineP2.northing, 0.0);
glh.End();
}
//draw curve if there is one
if (mf.curve.isCurveSet)
{
int ptC = mf.curve.curList.Count;
if (ptC > 0)
{
glh.LineWidth(2);
glh.Color(0.95f, 0.25f, 0.50f);
glh.Begin(OpenGL.GL_LINE_STRIP);
for (int h = 0; h < ptC; h++)
{
glh.Vertex(mf.curve.curList[h].easting, mf.curve.curList[h].northing, 0);
}
glh.End();
}
}
glh.PointSize(1.0f);
}
