private void RenderVehicle(MovingEntity objVehicle, Graphics objGraphics, Pen objPen)
{
PointF pntLeft,pntFront,pntRight;
if (UseSmoothing)
{
Vector2D SmoothedPerp = objVehicle.SmoothedHeading().Perp();
pntLeft = (PointF)(objVehicle.Pos + (SmoothedPerp * objVehicle.BRadius));
pntFront = (PointF)(objVehicle.Pos + (objVehicle.SmoothedHeading() * (objVehicle.BRadius * 2)));
pntRight = (PointF)(objVehicle.Pos - (SmoothedPerp * objVehicle.BRadius));
}
else
{
pntLeft = (PointF)(objVehicle.Pos + (objVehicle.Side() * objVehicle.BRadius));
pntFront = (PointF)(objVehicle.Pos + (objVehicle.Heading() * (objVehicle.BRadius * 2)));
pntRight = (PointF)(objVehicle.Pos - (objVehicle.Side() * objVehicle.BRadius));
}
PointF[] points = new PointF[4];
points[0] = pntLeft;
points[1] = pntFront;
points[2] = pntRight;
points[3] = pntLeft;
objGraphics.DrawPolygon(objPen, points);
}
private void renderDetectionBox(MovingEntity objVehicle, Graphics objGraphics, Pen objPen)
{
List<Vector2D> points = new List<Vector2D>();
points.Add(new Vector2D(0, objVehicle.BRadius));
points.Add(new Vector2D(objVehicle.Steering().DBoxLength(), objVehicle.BRadius));
points.Add(new Vector2D(objVehicle.Steering().DBoxLength(), -objVehicle.BRadius));
points.Add(new Vector2D(0, -objVehicle.BRadius));
if (UseSmoothing)
{
points = Utils.WorldTransform(points, objVehicle.Pos, objVehicle.SmoothedHeading(), objVehicle.SmoothedHeading().Perp());
}
else
{
points = Utils.WorldTransform(points, objVehicle.Pos, objVehicle.Heading(), objVehicle.Side());
}
objGraphics.DrawLine(objPen, (PointF)points[0], (PointF)points[1]);
objGraphics.DrawLine(objPen, (PointF)points[1], (PointF)points[2]);
objGraphics.DrawLine(objPen, (PointF)points[2], (PointF)points[3]);
}