public void CancelMove(Coordinates orig, WorldTransform t)
{
throw new NotSupportedException();
}
public void Render(Graphics g, WorldTransform t)
{
Coordinates wll = t.WorldLowerLeft;
Coordinates wup = t.WorldUpperRight;
if ((position.X < wll.X || position.X > wup.X || position.Y < wll.Y || position.Y > wup.Y))
{
return;
}
Matrix bodyTrans = new Matrix();
bodyTrans.Rotate((float)(this.Heading) * 180 / (float)Math.PI - 90);
bodyTrans.Translate((float)position.X, (float)position.Y, MatrixOrder.Append);
Matrix origTrans = g.Transform.Clone();
bodyTrans.Multiply(g.Transform, MatrixOrder.Append);
g.Transform = bodyTrans;
float penWidth = nomPixelWidth / t.Scale;
using (Pen p = new Pen(color, penWidth))
{
DrawRectangle(g, p, bodyRect);
// build the transform for the rear wheels
// do the left wheel
Matrix wheelTransform = bodyTrans.Clone();
wheelTransform.Translate(-wheelOffset, 0, MatrixOrder.Prepend);
try
{
g.Transform = wheelTransform;
g.FillRectangle(Brushes.White, wheelRectL);
DrawRectangle(g, p, wheelRectL);
}
catch (Exception)
{
}
// do the right wheel
wheelTransform = bodyTrans.Clone();
wheelTransform.Translate(wheelOffset, 0, MatrixOrder.Prepend);
try
{
g.Transform = wheelTransform;
g.FillRectangle(Brushes.White, wheelRectR);
DrawRectangle(g, p, wheelRectR);
}
catch (Exception)
{
}
// do the front wheels
// do the left wheel
wheelTransform = bodyTrans.Clone();
wheelTransform.Translate(-wheelOffset, wheelbase, MatrixOrder.Prepend);
wheelTransform.Rotate(steeringAngle * 180 / (float)Math.PI, MatrixOrder.Prepend);
try
{
g.Transform = wheelTransform;
g.FillRectangle(Brushes.White, wheelRectL);
DrawRectangle(g, p, wheelRectL);
}
catch (Exception)
{
}
// do the right wheel
wheelTransform = bodyTrans.Clone();
wheelTransform.Translate(wheelOffset, wheelbase, MatrixOrder.Prepend);
wheelTransform.Rotate(steeringAngle * 180 / (float)Math.PI, MatrixOrder.Prepend);
try
{
g.Transform = wheelTransform;
g.FillRectangle(Brushes.White, wheelRectR);
DrawRectangle(g, p, wheelRectR);
}
catch (Exception)
{
}
}
g.Transform = origTrans;
// draw Position
DrawingUtility.DrawControlPoint(this.position, color, null, ContentAlignment.MiddleCenter, ControlPointStyle.LargeX, g, t);
}
public void CompleteMove(Coordinates orig, Coordinates offset, WorldTransform t)
{
throw new NotSupportedException();
}
public void Render(Graphics g, WorldTransform t)
{
if (this.observedVehicle.ObservationState != ObservedVehicleState.Deleted ||
(this.observedVehicle.ObservationState == ObservedVehicleState.Deleted &&
DrawingUtility.DisplayDeletedVehicles))
{
Coordinates wll = t.WorldLowerLeft;
Coordinates wup = t.WorldUpperRight;
if ((Position.X < wll.X || Position.X > wup.X || Position.Y < wll.Y || Position.Y > wup.Y))
{
return;
}
Matrix bodyTrans = new Matrix();
bodyTrans.Rotate((float)(this.Heading) * 180 / (float)Math.PI - 90);
bodyTrans.Translate((float)Position.X, (float)Position.Y, MatrixOrder.Append);
Matrix origTrans = g.Transform.Clone();
bodyTrans.Multiply(g.Transform, MatrixOrder.Append);
g.Transform = bodyTrans;
float penWidth = nomPixelWidth / t.Scale;
using (Pen p = new Pen(color, penWidth))
{
DrawRectangle(g, p, bodyRect);
// build the transform for the rear wheels
// do the left wheel
Matrix wheelTransform = bodyTrans.Clone();
wheelTransform.Translate(-WheelOffset, 0, MatrixOrder.Prepend);
try
{
g.Transform = wheelTransform;
g.FillRectangle(Brushes.White, wheelRectL);
DrawRectangle(g, p, wheelRectL);
}
catch (Exception)
{
}
// do the right wheel
wheelTransform = bodyTrans.Clone();
wheelTransform.Translate(WheelOffset, 0, MatrixOrder.Prepend);
try
{
g.Transform = wheelTransform;
g.FillRectangle(Brushes.White, wheelRectR);
DrawRectangle(g, p, wheelRectR);
}
catch (Exception)
{
}
// do the front wheels
// do the left wheel
wheelTransform = bodyTrans.Clone();
wheelTransform.Translate(-WheelOffset, WheelBase, MatrixOrder.Prepend);
wheelTransform.Rotate(steeringAngle * 180 / (float)Math.PI, MatrixOrder.Prepend);
try
{
g.Transform = wheelTransform;
g.FillRectangle(Brushes.White, wheelRectL);
DrawRectangle(g, p, wheelRectL);
}
catch (Exception)
{
}
// do the right wheel
wheelTransform = bodyTrans.Clone();
wheelTransform.Translate(WheelOffset, WheelBase, MatrixOrder.Prepend);
wheelTransform.Rotate(steeringAngle * 180 / (float)Math.PI, MatrixOrder.Prepend);
try
{
g.Transform = wheelTransform;
g.FillRectangle(Brushes.White, wheelRectR);
DrawRectangle(g, p, wheelRectR);
}
catch (Exception)
{
}
}
g.Transform = origTrans;
// draw Position
DrawingUtility.DrawControlPoint(this.Position, color, this.observedVehicle.Id.ToString(), ContentAlignment.MiddleCenter, ControlPointStyle.LargeBox, g, t);
Coordinates head = this.Position + this.observedVehicle.Heading.Normalize(this.observedVehicle.Length / 2.0);
DrawingUtility.DrawControlLine(this.Position, head, color, g, t);
}
}
