private void DrawLine(int i, int j)
{
double x, y;
GLPen pen;
float heightVal = (float)(grid.GetCellByIdx(i, j));
if (heightVal >= .01)
{
grid.GetReals(i, j, out x, out y);
pen = new GLPen(ColorFromHeight(heightVal), 20f);
pen.GLApplyPen();
Gl.glVertex3f((float)x, (float)y, heightVal);
Gl.glVertex3f((float)x, (float)y, 0);
}
}
private bool FindPolygon(Vector2 initialIndex, bool turnedUpOnce)
{
int indexX = (int)initialIndex.X;
int indexY = (int)initialIndex.Y;
// if the cell is invalid, return
if (occupancyGrid.GetCellByIdx(indexX, indexY) < polygonThreshold)
{
return(false);
}
// if cell is valid, add to the polygon list - if not, quit
if (!allPointsInPolygons.ContainsKey(initialIndex))
{
double xReal, yReal;
occupancyGrid.GetReals(indexX, indexY, out xReal, out yReal);
polygonList[numPolygon].Add(new Vector2(xReal, yReal));
allPointsInPolygons.Add(initialIndex, numPolygon);
}
else
{
return(false);
}
// check right cell
if (!turnedUpOnce && occupancyGrid.CheckValidIdx(indexX + 1, indexY))
{
FindPolygon(new Vector2(indexX + 1, indexY), false);
}
//// check up cell
if (occupancyGrid.CheckValidIdx(indexX, indexY + 1))
{
FindPolygon(new Vector2(indexX, indexY + 1), true);
}
return(false);
}