private PolygonExtended GetRobotGhostPolygon()
{
PolygonExtended polygonToDisplay = new PolygonExtended();
foreach (var pt in ghostShape.polygon.Points)
{
Point polyPt = new Point(pt.X * Math.Cos(ghostLocation.Theta) - pt.Y * Math.Sin(ghostLocation.Theta), pt.X * Math.Sin(ghostLocation.Theta) + pt.Y * Math.Cos(ghostLocation.Theta));
polyPt.X += ghostLocation.X;
polyPt.Y += ghostLocation.Y;
polygonToDisplay.polygon.Points.Add(polyPt);
polygonToDisplay.backgroundColor = ghostShape.backgroundColor;
polygonToDisplay.borderColor = ghostShape.borderColor;
polygonToDisplay.borderWidth = ghostShape.borderWidth;
}
return(polygonToDisplay);
}
public void SetGhostShape(PolygonExtended rbtShape)
{
ghostShape = rbtShape;
}
public void SetRobotShape(PolygonExtended rbtShape)
{
robotShape = rbtShape;
}
public void AddOrUpdatePolygonExtended(int id, PolygonExtended p)
{
polygonList.AddOrUpdate(id, p, (key, value) => p);
}
