public static void Draw(UIStates uiStates, List <PointList2D> paths, Canvas canvas,
BitmapImage bitmapImage, Vector drawing_translate, Vector drawing_size, Drawing drawing, bool isCakeTask, List <double> rotationAngles,
List <int> gaitSequence
)
{
canvas.Children.Clear();
//List<Point> floorPoints = new List<Point>();
//double x = 1000.0; // floor width / 2
//double z = 1000.0; // floor length / 2
//floorPoints.Add(new Point(-x, z));
//floorPoints.Add(new Point(x, z));
//floorPoints.Add(new Point(x, -z));
//floorPoints.Add(new Point(-x, -z));
//finding bounding box
double xmin, xmax, ymin, ymax;
List <double> Xs = new List <double>();
List <double> Ys = new List <double>();
foreach (var path in paths)
{
foreach (var point in path.points)
{
Xs.Add(point.X);
Ys.Add(point.Y);
}
}
Xs.Add(drawing_translate.X);
Xs.Add(drawing_translate.X + drawing_size.X);
Ys.Add(drawing_translate.Y);
Ys.Add(drawing_translate.Y + drawing_size.Y);
if (isCakeTask)
{
Xs.Add(-600);
Ys.Add(-600);
Ys.Add(+600);
}
//foreach (var point in floorPoints)
//{
// Xs.Add(point.X);
// Ys.Add(point.Y);
//}
if (Xs.Count == 0 || Ys.Count == 0)
{
return;
}
xmin = Xs.Min();
xmax = Xs.Max();
ymin = Ys.Min();
ymax = Ys.Max();
double bsize = 100;
double ixmin = Math.Floor(xmin / bsize);
double ixmax = Math.Ceiling(xmax / bsize);
double iymin = Math.Floor(ymin / bsize);
double iymax = Math.Ceiling(ymax / bsize);
xmin = ixmin * bsize;
ymin = iymin * bsize;
xmax = ixmax * bsize;
ymax = iymax * bsize;
double width = canvas.ActualWidth;
double height = canvas.ActualHeight;
double marginRatio = 0.1;
double scale = Math.Min(width * (1 - marginRatio) / (xmax - xmin), height * (1 - marginRatio) / (ymax - ymin));
Vector pCenter = 0.5 * new Vector(xmax + xmin, ymax + ymin);
Vector center = 0.5 * new Vector(width, height);
Vector translate = center - pCenter;
Matrix matrix = Matrix.Identity;
matrix.Translate(-pCenter.X, -pCenter.Y);
matrix.Scale(scale, scale);
matrix.Translate(pCenter.X, pCenter.Y);
matrix.Translate(translate.X, translate.Y);
//matrix.Scale(scale, scale);
for (double i = ixmin; i < (ixmax); i = i + 1)
{
for (double j = iymin; j < iymax; j = j + 1)
{
Polygon polygon = new Polygon();
polygon.Points.Add((new Point(i * bsize, j * bsize)) * matrix);
polygon.Points.Add((new Point((i + 1) * bsize, (j) * bsize)) * matrix);
polygon.Points.Add((new Point((i + 1) * bsize, (j + 1) * bsize)) * matrix);
polygon.Points.Add((new Point((i) * bsize, (j + 1) * bsize)) * matrix);
polygon.Stroke = Brushes.LightGray;
polygon.StrokeThickness = 1;
polygon.Fill = new SolidColorBrush(Color.FromArgb(255, 255, 255, 255));
canvas.Children.Add(polygon);
}
}
// draw the intial shape
// foreach (var face in drawing.faces)
// {
// Polygon polygon = new Polygon();
// foreach (var point in face.points)
// {
// polygon.Points.Add(point * matrix);
// }
// polygon.Fill = new SolidColorBrush(Colors.Red);
// canvas.Children.Add(polygon);
// }
if (isCakeTask)
{
List <Point> positions = new List <Point>();
positions.Add(new Point(-300 - 50, 0 - 50));
positions.Add(new Point(-300 - 50, 400 - 50));
positions.Add(new Point(-100 - 50, 200 - 50));
positions.Add(new Point(-500 - 50, 200 - 50));
positions.Add(new Point(-300 - 50, -400 - 50));
positions.Add(new Point(-100 - 50, -200 - 50));
positions.Add(new Point(-500 - 50, -200 - 50));
for (int p = 0; p < positions.Count; p++)
{
Rectangle rec = new Rectangle();
rec.Width = 100 * scale;
rec.Height = 100 * scale;
rec.SetValue(Canvas.TopProperty, (positions[p] * matrix).Y);
rec.SetValue(Canvas.LeftProperty, (positions[p] * matrix).X);
rec.Fill = new SolidColorBrush(Colors.Black);
canvas.Children.Add(rec);
}
List <Point> boudsLocations = new List <Point>();
List <Point> boudsSizes = new List <Point>();
boudsLocations.Add(new Point(-100, 0)); boudsSizes.Add(new Point(4, 1200));
boudsLocations.Add(new Point(-600, 400)); boudsSizes.Add(new Point(5, 400));
boudsLocations.Add(new Point(-600, -400)); boudsSizes.Add(new Point(5, 400));
boudsLocations.Add(new Point(-350, 600)); boudsSizes.Add(new Point(500, 5));
boudsLocations.Add(new Point(-350, -600)); boudsSizes.Add(new Point(500, 5));
for (int i = 0; i < boudsLocations.Count; i++)
{
Point pos = new Point();
pos.X = boudsLocations[i].X - 0.5 * boudsSizes[i].X;
pos.Y = boudsLocations[i].Y - 0.5 * boudsSizes[i].Y;
Rectangle line = new Rectangle();
line.Width = boudsSizes[i].X * scale;
line.Height = boudsSizes[i].Y * scale;
line.SetValue(Canvas.TopProperty, (pos * matrix).Y);
line.SetValue(Canvas.LeftProperty, (pos * matrix).X);
if (i > 0)
{
line.Fill = new SolidColorBrush(Colors.Black);
}
else
{
line.Fill = new SolidColorBrush(Colors.DarkGray);
}
canvas.Children.Add(line);
}
Point cakepos = new Point(-600 - 100, -100);
Ellipse cake = new Ellipse();
cake.Width = 200 * scale;
cake.Height = 200 * scale;
cake.SetValue(Canvas.TopProperty, (cakepos * matrix).Y);
cake.SetValue(Canvas.LeftProperty, (cakepos * matrix).X);
cake.Fill = new SolidColorBrush(Colors.LightPink);
canvas.Children.Add(cake);
}
Image topview = new Image();
topview.Source = bitmapImage;
topview.Width = bitmapImage.Width * scale;
topview.Height = bitmapImage.Height * scale;
Point cornerVertex = new Point(drawing_translate.X, drawing_translate.Y) * matrix;
Canvas.SetLeft(topview, cornerVertex.X);
Canvas.SetTop(topview, cornerVertex.Y);
//Console.Write(" top x = " + ((drawing_translate.X * scale) + translate.X));
//Console.Write(" drawing_translate.X = " + drawing_translate.X);
//Console.Write(" scale= " + scale);
//Console.Write(" translate.X = " + translate.X);
//Console.Write(" top y = " + ((drawing_translate.Y * scale) + translate.Y));
//Console.Write(" drawing_translate.y = " + drawing_translate.Y);
//Console.Write(" scale= " + scale);
//Console.Write(" translate.y = " + translate.Y);
canvas.Children.Add(topview);
int count = -1;
foreach (var path in paths)
{
List <Point> transformedPoints = new List <Point>();
transformedPoints.Clear();
foreach (var point in path.points)
{
transformedPoints.Add(point * matrix);
}
if (transformedPoints.Count > 1)
{
//Polygon topViewPoly = new Polygon();
//foreach (var point in topView.points)
//{
// topViewPoly.Points.Add(point * matrix);
//}
//topViewPoly.Fill = new SolidColorBrush(Color.FromArgb(255, 100, 100, 100));
//canvas.Children.Add(topViewPoly);
for (int i = 1; i < transformedPoints.Count; i++)
{
Line line = new Line();
line.X1 = transformedPoints[i - 1].X;
line.Y1 = transformedPoints[i - 1].Y;
line.X2 = transformedPoints[i].X;
line.Y2 = transformedPoints[i].Y;
if (count >= 0)
{
line.Stroke = uiStates.niceColors[count];
}
else
{
/*
* int refID = (int) Math.Floor(((double)(i-1) )/100.0 );
* if (refID < 0) refID = 0;
* int colorId = -1;
* if (refID < gaitSequence.Count)
* {
* colorId = gaitSequence[refID];
* }
* Console.WriteLine("trandformed oitn = " + transformedPoints.Count );
* Console.WriteLine("i = " + i + " refId = " + refID + " gait = " + colorId);
* if (colorId >= 0 ){
* line.Stroke = uiStates.niceColors[colorId]; //new SolidColorBrush(Colors.Black);
* }else{
* line.Stroke = new SolidColorBrush(Colors.Gray);
*
* }
*/
line.Stroke = new SolidColorBrush(Colors.Black);
}
line.StrokeThickness = 5;
//if(count < 0){
canvas.Children.Add(line);
//}
}
if (count >= 0)
{
double rotAngle = rotationAngles[count];
Polygon Arrow = new Polygon();
double wa = 3.5 * 2;
double wl = 2.5 * 2;
double hl = 14 * 2;
double ha = 7 * 2;
Matrix arrowMatrix = new Matrix();
arrowMatrix.Rotate(rotAngle + 90);
Point arrowCenter = transformedPoints[transformedPoints.Count - 1];
arrowMatrix.Translate(arrowCenter.X, arrowCenter.Y);
Arrow.Points.Add(new Point(-wl, 0) * arrowMatrix);
Arrow.Points.Add(new Point(-wl, hl) * arrowMatrix);
Arrow.Points.Add(new Point(-(wa + wl), hl) * arrowMatrix);
Arrow.Points.Add(new Point(0, hl + ha) * arrowMatrix);
Arrow.Points.Add(new Point(wa + wl, hl) * arrowMatrix);
Arrow.Points.Add(new Point(wl, hl) * arrowMatrix);
Arrow.Points.Add(new Point(wl, 0) * arrowMatrix);
Arrow.Fill = uiStates.niceColors[count];
canvas.Children.Add(Arrow);
}
}
count++;
}
}
public static void Draw(Action <int, bool> selectionCallback, List <int> labels, List <Point> jointLocations, Canvas mainCanvas,
BitmapImage bitmapImage, Vector drawing_translate, Vector drawing_size, Drawing drawing, Color color)
{
mainCanvas.Children.Clear();
//finding bounding box
double xmin, xmax, ymin, ymax;
List <double> Xs = new List <double>();
List <double> Ys = new List <double>();
foreach (var point in jointLocations)
{
Xs.Add(point.X);
Ys.Add(point.Y);
}
Xs.Add(drawing_translate.X);
Xs.Add(drawing_translate.X + drawing_size.X);
Ys.Add(drawing_translate.Y);
Ys.Add(drawing_translate.Y + drawing_size.Y);
if (Xs.Count == 0 || Ys.Count == 0)
{
return;
}
xmin = Xs.Min();
xmax = Xs.Max();
ymin = Ys.Min();
ymax = Ys.Max();
double width = Math.Max(mainCanvas.Width - 10, 0);
double height = Math.Max(mainCanvas.Height - 10, 0);
double marginRatio = 0.6;
double scale = Math.Min(width * (1 - marginRatio) / (xmax - xmin), height * (1 - marginRatio) / (ymax - ymin));
//Console.WriteLine(scale + " " + width + " " + height + " " + xmin + " " + xmax + " " + ymin + " " + ymax);
Vector pCenter = 0.5 * new Vector(xmax + xmin, ymax + ymin);
Vector center = 0.5 * new Vector(width + 10, height + 10);
Vector translate = center - pCenter;
Matrix matrix = Matrix.Identity;
matrix.Translate(-pCenter.X, -pCenter.Y);
matrix.Scale(scale, scale);
matrix.Translate(pCenter.X, pCenter.Y);
matrix.Translate(translate.X, translate.Y);
//Polygon robotPolygon = new Polygon();
//foreach (var point in jointChoices.Layout.RobotShape)
//{
// robotPolygon.Points.Add(point * matrix);
//}
//robotPolygon.Fill = Brushes.Azure;
//robotPolygon.Stroke = Brushes.DarkSlateGray;
//mainCanvas.Children.Add(robotPolygon);
// draw the intial shape
// foreach (var face in drawing.faces)
// {
// Polygon polygon = new Polygon();
// foreach (var point in face.points)
// {
// polygon.Points.Add(point * matrix);
// }
// polygon.Fill = new SolidColorBrush(Colors.Red);
// mainCanvas.Children.Add(polygon);
// }
Color simpleBlack = Color.FromArgb(255, 0, 0, 0);
Color darkWhite = Color.FromRgb(210, 210, 210);
Color hightlightColor = darkWhite;
Image topview = GaitSequence.getImageFromBitMap(bitmapImage, color);
topview.Height = bitmapImage.Height * scale;
topview.Width = bitmapImage.Width * scale;
Point cornerVertex = new Point(drawing_translate.X, drawing_translate.Y) * matrix;
Canvas.SetLeft(topview, cornerVertex.X);
Canvas.SetTop(topview, cornerVertex.Y);
mainCanvas.Children.Add(topview);
for (int i = 0; i < jointLocations.Count; i++)
{
var iCopy = i;
Point joint = jointLocations[i];
int label = labels[i];
Ellipse ellipse = new Ellipse();
int rad = 12;
ellipse.Width = 2 * rad;
ellipse.Height = 2 * rad;
ellipse.Fill = new SolidColorBrush(darkWhite);
ellipse.Stroke = new SolidColorBrush(Colors.Black);
ellipse.StrokeThickness = 2;
ellipse.SetValue(Canvas.TopProperty, (joint * matrix).Y - rad);
ellipse.SetValue(Canvas.LeftProperty, (joint * matrix).X - rad);
mainCanvas.Children.Add(ellipse);
if (label != 0)
{
Polygon arrowDown = new Polygon();
arrowDown.Points.Add(new Point(-5 + (joint * matrix).X, 12 + (joint * matrix).Y));
arrowDown.Points.Add(new Point(5 + (joint * matrix).X, 12 + (joint * matrix).Y));
arrowDown.Points.Add(new Point(5 + (joint * matrix).X, 22 + (joint * matrix).Y));
arrowDown.Points.Add(new Point(10 + (joint * matrix).X, 22 + (joint * matrix).Y));
arrowDown.Points.Add(new Point(0 + (joint * matrix).X, 27 + (joint * matrix).Y));
arrowDown.Points.Add(new Point(-10 + (joint * matrix).X, 22 + (joint * matrix).Y));
arrowDown.Points.Add(new Point(-5 + (joint * matrix).X, 22 + (joint * matrix).Y));
arrowDown.Fill = new SolidColorBrush(simpleBlack);
arrowDown.MouseDown += (sender, args) =>
{
selectionCallback(iCopy, false);
};
arrowDown.MouseEnter += (sender, args) =>
{
arrowDown.Fill = new SolidColorBrush(hightlightColor);
};
arrowDown.MouseLeave += (sender, args) =>
{
arrowDown.Fill = new SolidColorBrush(simpleBlack);
};
mainCanvas.Children.Add(arrowDown);
Polygon arrowUP = new Polygon();
arrowUP.Points.Add(new Point(-5 + (joint * matrix).X, -12 + (joint * matrix).Y));
arrowUP.Points.Add(new Point(5 + (joint * matrix).X, -12 + (joint * matrix).Y));
arrowUP.Points.Add(new Point(5 + (joint * matrix).X, -22 + (joint * matrix).Y));
arrowUP.Points.Add(new Point(10 + (joint * matrix).X, -22 + (joint * matrix).Y));
arrowUP.Points.Add(new Point(0 + (joint * matrix).X, -27 + (joint * matrix).Y));
arrowUP.Points.Add(new Point(-10 + (joint * matrix).X, -22 + (joint * matrix).Y));
arrowUP.Points.Add(new Point(-5 + (joint * matrix).X, -22 + (joint * matrix).Y));
arrowUP.Fill = new SolidColorBrush(simpleBlack);
arrowUP.MouseDown += (sender, args) =>
{
selectionCallback(iCopy, true);
};
arrowUP.MouseEnter += (sender, args) =>
{
arrowUP.Fill = new SolidColorBrush(hightlightColor);
};
arrowUP.MouseLeave += (sender, args) =>
{
arrowUP.Fill = new SolidColorBrush(simpleBlack);
};
mainCanvas.Children.Add(arrowUP);
Label text = new Label();
text.Content = label;
text.HorizontalContentAlignment = HorizontalAlignment.Center;
text.VerticalContentAlignment = VerticalAlignment.Center;
text.FontSize = 15;
text.Foreground = new SolidColorBrush(Colors.Black);
text.Width = 20;
text.Height = 20;
text.Padding = new Thickness(0);
text.SetValue(Canvas.TopProperty, (joint * matrix).Y - 10);
text.SetValue(Canvas.LeftProperty, (joint * matrix).X - 10);
mainCanvas.Children.Add(text);
}
}
}
