/// <summary>
/// Adds a polygon that will be drawn on the next Draw() call.
/// A polygon is a filled shape.
/// </summary>
/// <param name="pl">The polyline that defines the polygon's border. Must be closed</param>
/// <param name="color">The filling color</param>
public void AddCompletePolygon(Polyline pl, Color color)
{
List<Adjacency> pointList = new List<Adjacency>();
List<Line> lineList = pl.lineList;
if (lineList.Count > 2)
{
Adjacency prevAdjacency = new Adjacency();
Adjacency newAdjacency;
prevAdjacency.point = lineList[0].p1;
//lineList.RemoveAt(0);
foreach (Line l in lineList.GetRange(1, lineList.Count-1))
{
newAdjacency = new Adjacency();
prevAdjacency.adj2 = newAdjacency;
pointList.Add(prevAdjacency);
newAdjacency.adj1 = prevAdjacency;
newAdjacency.point = l.p1;
prevAdjacency = newAdjacency;
}
// linking last point to first point
prevAdjacency.adj2 = pointList[0];
pointList.Add(prevAdjacency);
pointList[0].adj1 = prevAdjacency;
pointList.Sort(Adjacency.CompareX);
AddPolygon(pointList, color);
}
}
public Wall(Polyline _polyline, float thickness)
{
List<Model.Point> points = new List<Model.Point>();
Vector2 perpendicularVector = new Vector2(_polyline.lineList[0].p2.y - _polyline.lineList[0].p1.y,
-(_polyline.lineList[0].p2.x - _polyline.lineList[0].p1.x));
perpendicularVector.Normalize();
perpendicularVector *= thickness/2;
// point translation
Model.Point p11 = new Point(_polyline.lineList[0].p1.x + perpendicularVector.X, _polyline.lineList[0].p1.y + perpendicularVector.Y);
Model.Point p12 = new Point(_polyline.lineList[0].p1.x - perpendicularVector.X, _polyline.lineList[0].p1.y - perpendicularVector.Y);
Model.Point p21 = new Point(_polyline.lineList[0].p2.x + perpendicularVector.X, _polyline.lineList[0].p2.y + perpendicularVector.Y);
Model.Point p22 = new Point(_polyline.lineList[0].p2.x - perpendicularVector.X, _polyline.lineList[0].p2.y - perpendicularVector.Y);
// adding two first points
points.Add(p11);
points.Add(p12);
Line line11 = new Line(p11, p21);
Line line12 = new Line(p12, p22);
///Vector2 line12 = new Vector2(p12.x - p22.x, p21.y - p22.y);
foreach (Line l in _polyline.lineList.GetRange(1, _polyline.lineList.Count-1))
{
perpendicularVector = new Vector2(l.p2.y - l.p1.y, -(l.p2.x - l.p1.x));
perpendicularVector.Normalize();
perpendicularVector *= thickness/2;
// point translation
p11 = new Point(l.p1.x + perpendicularVector.X, l.p1.y + perpendicularVector.Y);
p12 = new Point(l.p1.x - perpendicularVector.X, l.p1.y - perpendicularVector.Y);
p21 = new Point(l.p2.x + perpendicularVector.X, l.p2.y + perpendicularVector.Y);
p22 = new Point(l.p2.x - perpendicularVector.X, l.p2.y - perpendicularVector.Y);
Line line21 = new Line(p11, p21);
Line line22 = new Line(p12, p22);
// line intersection
Model.Point? intersect1 = Utils.InfiniteLineIntersect(line11, line21);
Model.Point? intersect2 = Utils.InfiniteLineIntersect(line12, line22);
if (intersect1.HasValue)
{
points.Insert(0, intersect1.Value);
}
if (intersect2.HasValue)
{
points.Add(intersect2.Value);
}
line11 = line21;
line12 = line22;
}
// adding two last points
points.Insert(0, p21);
points.Add(p22);
points.Add(p21);
polyline = new Polyline(points);
}
public Obstacle(Polyline _polyline, float _height)
{
height = _height;
//verify that the obstacle is closed
if (_polyline.lineList[0].p1.Equals(_polyline.lineList[_polyline.lineList.Count - 1].p2))
{
polyline = _polyline;
}
else
{
Line newLine = new Line(_polyline.lineList[_polyline.lineList.Count - 1].p2, _polyline.lineList[0].p1);
_polyline.lineList.Add(newLine);
polyline = _polyline;
}
}
public Wall(Polyline _polyline)
{
polyline = _polyline;
}
// TODO : used for testing purpose, remove or rework
public Obstacle(Polyline _polyline)
{
polyline = _polyline;
height = -1;
}
/// <summary>
/// Constructor and parser
/// </summary>
/// <param name="map">Path for the xml map</param>
public XMLReader(string map)
{
XElement mapDocument = XElement.Load(map);
IEnumerable<XElement> mapElements = mapDocument.Elements();
foreach (var mapElement in mapElements)
{
//Initial loop
if (mapElement.Name == "frame")
{
IEnumerable<XElement> frameElements = mapElement.Elements();
foreach (var frameElement in frameElements)
{
//loop to define the frame
float x = (float)frameElement.Attribute("x");
float y = (float)frameElement.Attribute("y");
if (frameElement.Name == "upperLeft")
{
upperLeft = new Point(x, y);
}
else if (frameElement.Name == "lowerRight")
{
lowerRight = new Point(x, y);
}
}
}
if (mapElement.Name == "object")
{
IEnumerable<XElement> frameObjects = mapElement.Elements();
foreach (var frameObject in frameObjects)
{
//loop for the different objects (actually, obstacle and walls)
if (frameObject.Name == "obstacle")
{
float height = (float)frameObject.Attribute("height");
List<Point> pointList = new List<Point>();
IEnumerable<XElement> framePoints = frameObject.Elements();
foreach (var framePoint in framePoints)
{
//loop to get all the points of one obstacle
float x = (float)framePoint.Attribute("x");
float y = (float)framePoint.Attribute("y");
Point point = new Point(x, y);
pointList.Add(point);
}
Polyline polyline = new Polyline(pointList);
Obstacle obstacle = new Obstacle(polyline, height);
listObstacle.Add(obstacle);
}
if (frameObject.Name == "wall")
{
//loop for walls
float thickness = (float)frameObject.Attribute("thickness");
List<Point> pointListWall = new List<Point>();
IEnumerable<XElement> framePoints = frameObject.Elements();
foreach (var framePoint in framePoints)
{
//loop to get all the points of one wall
float x = (float)framePoint.Attribute("x");
float y = (float)framePoint.Attribute("y");
Point point = new Point(x, y);
pointListWall.Add(point);
}
Polyline polyline = new Polyline(pointListWall);
Wall wall = new Wall(polyline, thickness);
listWall.Add(wall);
}
}
}
/* Console.WriteLine("lower left : " + upperLeft.x);
Console.WriteLine("lower right : " + upperLeft.x);
Console.WriteLine("upper left : " + lowerRight.x);
Console.WriteLine("upper right : " + lowerRight.x);
Console.WriteLine("obstacle");
for (int i = 0; i < listObstacle.Count; i++)
{
Console.WriteLine(listObstacle[i].polyline.ToString());
}
Console.WriteLine("wall");
for (int i = 0; i < listWall.Count; i++)
{
Console.WriteLine(listWall[i].ToString());
}*/
}
}
/// <summary>
/// adds a polyline to be drawn on the newt Draw() call.
/// </summary>
/// <param name="pl">The polyline to draw</param>
/// <param name="color">The color of the polyline</param>
public void AddPolyline(Polyline pl, Color color)
{
List<VertexPositionColor> vertices = new List<VertexPositionColor>();
if( pl.lineList.Count != 0 )
{
vertices.Add( new VertexPositionColor(ToVector3(pl.lineList[0].p1), color) );
foreach( Line line in pl.lineList )
{
vertices.Add( new VertexPositionColor(ToVector3(line.p2), color) );
}
}
polylines.Add(vertices);
}
