private void DrawObstacle(IGraphics g, WorldTransform wt, OperationalObstacle obs)
{
IPen pen = g.CreatePen();
pen.Width = nom_pixel_width / wt.Scale;
pen.Color = classColors[(int)obs.obstacleClass];
g.DrawPolygon(pen, Utility.ToPointF(obs.poly));
if (obs.headingValid)
{
DrawingUtility.DrawArrow(g, obs.poly.GetCentroid(), Coordinates.FromAngle(obs.heading), 4, 0.75, Color.Black, wt);
}
if (ageRenderFlag || obs.ignored)
{
// draw the model confidence
string labelString = "";
if (ageRenderFlag)
{
labelString += obs.age.ToString();
}
if (obs.ignored)
{
if (labelString.Length != 0)
{
labelString += ", ";
}
labelString += "IGN";
}
SizeF stringSize = g.MeasureString(labelString, labelFont);
stringSize.Width /= wt.Scale;
stringSize.Height /= wt.Scale;
Coordinates labelPt = obs.poly.GetCentroid();
RectangleF rect = new RectangleF(Utility.ToPointF(labelPt), stringSize);
float inflateValue = 4 / wt.Scale;
rect.X -= inflateValue;
rect.Y -= inflateValue;
rect.Width += 2 / wt.Scale;
g.FillRectangle(Color.FromArgb(127, Color.White), rect);
g.DrawString(labelString, labelFont, Color.Black, Utility.ToPointF(labelPt));
}
}
