static void Draw(Graphics g, BehaviorSnapshot snapshotA, BehaviorSnapshot snapshotB, BehaviorVisualizationRendererSettings settings)
{
Point pA = GetPoint(snapshotA, settings);
Point pB = GetPoint(snapshotB, settings);
float width = GetWidth(snapshotA, snapshotB, settings);
switch (settings.PathStyle)
{
case BehaviorVisualizationRendererSettings.PathStyleEnum.Dots:
float halfWidth = width / 2.0f;
using (SolidBrush b = new SolidBrush(settings.PathColor))
{
g.FillEllipse(b, pA.X - halfWidth, pA.Y - halfWidth, width, width);
}
break;
case BehaviorVisualizationRendererSettings.PathStyleEnum.Lines:
using (Pen p = new Pen(settings.PathColor, width))
{
p.EndCap = System.Drawing.Drawing2D.LineCap.Round;
g.DrawLine(p, pA, pB);
}
break;
default:
break;
}
}
static Point GetPoint(BehaviorSnapshot snapshot, BehaviorVisualizationRendererSettings settings)
{
Vector offset = snapshot.Position - settings.ImageOriginPosition;
Vector pixelPosition = offset * settings.PixelsPerWorldUnit * SCALE;
return(new Point((int)pixelPosition.X, (int)pixelPosition.Y));
}
public static List <BehaviorSnapshot> Parse(string data)
{
var snapshots = new List <BehaviorSnapshot>();
string[] separators = { "\r\n", "\n" };
string[] lines = data.Split(separators, StringSplitOptions.RemoveEmptyEntries);
foreach (var line in lines)
{
if (line[0] != '#')
{
string[] values = line.Split('\t');
float timestamp = float.Parse(values[0]);
int region = int.Parse(values[1]);
float px = float.Parse(values[2]);
float py = float.Parse(values[3]);
float pz = float.Parse(values[4]);
float fx = float.Parse(values[5]);
float fy = float.Parse(values[6]);
float fz = float.Parse(values[7]);
Vector position = new Vector(px, py, pz);
Vector forward = new Vector(fx, fy, fz);
var snapshot = new BehaviorSnapshot(timestamp, region, position, forward);
snapshots.Add(snapshot);
}
}
return(snapshots);
}
static float GetWidth(BehaviorSnapshot snapshotA, BehaviorSnapshot snapshotB, BehaviorVisualizationRendererSettings settings)
{
return(settings.PathWidth * SCALE);
}
