public ScalingTransform GetObjectCenteredScalingTransform(ChannelOutputs outputs)
{
ScalingTransform localSpaceTransform = GetJointCenteredScalingTransform(outputs);
Vector3 centerPoint = CenterPoint.GetValue(outputs);
return(ScalingTransform.FromTranslation(-centerPoint).Chain(localSpaceTransform).Chain(ScalingTransform.FromTranslation(+centerPoint)));
}
private void OnTriggerEnter(Collider other)
{
ColorBall tempColorBall = other.gameObject.GetComponent <ColorBall>();
if (tempColorBall)
{
// Don't case equal for now lol
if ((int)type > (int)tempColorBall.type)
{
type = GeneralTable.Combine(type, tempColorBall.type);
BallColor = GeneralTable.GetColor(type);
GamePlayManager.Instance.centerPoint.RemoveEstimateColorBallNum();
}
else
{
Destroy(this.gameObject);
}
}
CenterPoint tempCenterPoint = other.gameObject.GetComponent <CenterPoint>();
if (tempCenterPoint)
{
nextCenterPoint.match(type);
ballCollider.enabled = false;
}
}
public void Verify()
{
if (CenterPoint == null)
{
throw new AnalyticalServicesException(24000, "CenterPoint must be supplied to the service.");
}
CenterPoint.Verify();
if (SearchHeading < 0 || SearchHeading > 360)
{
throw new AnalyticalServicesException(23600, "SearchHeading must be in the interval: [0-360].");
}
if (Length <= 0)
{
throw new AnalyticalServicesException(23600, "Length must be greater than 0.");
}
if (Width <= 0)
{
throw new AnalyticalServicesException(23600, "Width must be greater than 0.");
}
if (Speed <= 0)
{
throw new AnalyticalServicesException(23600, "Speed must be greater than 0.");
}
}
public FPanel()
{
this.DoubleBuffered = true;
this.font_x = new Font("Arial", 8);
this.font_y = new Font("Arial", 8);
this.points = new List <FPointColor>();
this.color_background_axis_step = 1;
this.background_colour_points = null;
this.is_have_background = false;
this.axis_unit_points_x = new List <FPointUint>();
this.axis_unit_points_y = new List <FPointUint>();
this.is_have_function = false;
this.function = null;
this.Center_X = null;
this.Center_Y = null;
this.Xmin = 0;
this.Xmax = 10;
this.Ymin = 0;
this.Ymax = 10;
this.FindStepsAndCenter();
this.Paint += FPanel_Paint;
this.SizeChanged += FPanel_SizeChanged;
this.Invalidate();
}
private void ShowSearchArea()
{
if (MapDataParam.Info.UnitListCenterX == null || MapDataParam.Info.UnitListCenterY == null)
{
return;
}
if (MapDataParam.Info.UnitListCenterX.Count == 0 || MapDataParam.Info.UnitListCenterY.Count == 0)
{
return;
}
if (MapDataParam.Info.UnitListCenterX.Count != MapDataParam.Info.UnitListCenterY.Count)
{
return;
}
uint _RowCount = Convert.ToUInt32(numUpDownUnitRowCount.Value);
uint _ColCount = Convert.ToUInt32(numUpDownUnitColumnCount.Value);
int _TotalCount = MapDataParam.Info.UnitListCenterX.Count;
if (_TotalCount != (_RowCount * _ColCount))
{
MessageBox.Show(string.Format("Total : {0}, Row : {1}, Column : {2}", _TotalCount, _RowCount, _ColCount)); return;
}
CenterPoint[] _CenterPointArray = new CenterPoint[_TotalCount];
for (int iLoopCount = 0; iLoopCount < _TotalCount; ++iLoopCount)
{
_CenterPointArray[iLoopCount] = new CenterPoint();
_CenterPointArray[iLoopCount].X = MapDataParam.Info.UnitListCenterX[iLoopCount];
_CenterPointArray[iLoopCount].Y = MapDataParam.Info.UnitListCenterY[iLoopCount];
}
CenterPoint[,] _SortedCenterPoint = CenterPointSort((uint)_RowCount, (uint)_ColCount, _CenterPointArray);
MapDataParam.Info.UnitListCenterX.Clear();
MapDataParam.Info.UnitListCenterY.Clear();
for (int iLoopCount = 0; iLoopCount < _RowCount; ++iLoopCount)
{
for (int jLoopCount = 0; jLoopCount < _ColCount; ++jLoopCount)
{
MapDataParam.Info.UnitListCenterX.Add(_SortedCenterPoint[iLoopCount, jLoopCount].X);
MapDataParam.Info.UnitListCenterY.Add(_SortedCenterPoint[iLoopCount, jLoopCount].Y);
}
}
kpTeachDisplay.ClearDisplay();
for (int iLoopCount = 0; iLoopCount < MapDataParam.Info.UnitListCenterX.Count; ++iLoopCount)
{
CogRectangle _FindPattern = new CogRectangle();
_FindPattern.SetCenterWidthHeight(MapDataParam.Info.UnitListCenterX[iLoopCount], MapDataParam.Info.UnitListCenterY[iLoopCount],
MapDataParam.Info.UnitListWidth[iLoopCount], MapDataParam.Info.UnitListHeight[iLoopCount]);
kpTeachDisplay.DrawStaticShape(_FindPattern, "SearchArea" + (iLoopCount + 1));
CogPointMarker _OriginPoint = new CogPointMarker();
_OriginPoint.SetCenterRotationSize(MapDataParam.Info.UnitListCenterX[iLoopCount], MapDataParam.Info.UnitListCenterY[iLoopCount], 0, 2);
kpTeachDisplay.DrawStaticShape(_OriginPoint, "PatternOrigin" + (iLoopCount + 1), CogColorConstants.Green, 12);
kpTeachDisplay.DrawText((iLoopCount + 1).ToString(), MapDataParam.Info.UnitListCenterX[iLoopCount], MapDataParam.Info.UnitListCenterY[iLoopCount] - 15, CogColorConstants.Green, 10);
}
SelectingRectName = SelectedRectName = "";
IsDrawPatterns = true;
}
public override string GetRequestUrl()
{
string pointStr = string.Format("LocationRecog/{0}?", CenterPoint.ToString());
string du;
switch (DistanceUnits)
{
case DistanceUnitType.Miles:
du = "mile";
break;
case DistanceUnitType.Kilometers:
default:
du = "kilometer";
break;
}
List <string> param_list = new List <string>
{
string.Format("r={0}", Radius.ToString(System.Globalization.CultureInfo.InvariantCulture)),
string.Format("top={0}", Top.ToString()),
string.Format("distanceUnit={0}", du),
string.Format("verboseplacenames={0}", VerbosePlaceNames.ToString().ToLower()),
string.Format("key={0}", BingMapsKey.ToString()),
string.Format("includeEntityTypes={0}", IncludeEntityTypes)
};
if (DateTimeInput.HasValue)
{
param_list.Add(string.Format("dateTime={0}", DateTimeHelper.GetUTCString(DateTimeInput.Value)));
}
return(this.Domain + pointStr + string.Join("&", param_list));
}
public RigidTransform GetOriginToBindPoseTransform(ChannelOutputs outputs)
{
Vector3 orientationAngles = Orientation.GetValue(outputs);
Vector3 centerPoint = CenterPoint.GetValue(outputs);
Quaternion orientation = RotationOrder.DazStandard.FromEulerAngles(MathExtensions.DegreesToRadians(orientationAngles));
return(RigidTransform.FromRotationTranslation(orientation, centerPoint));
}
private DualQuaternion GetObjectCenteredRotationTransform(ChannelOutputs outputs, ScalingTransform parentScale)
{
DualQuaternion localSpaceTransform = GetJointCenteredRotationTransform(outputs, parentScale.Scale);
Vector3 centerPoint = CenterPoint.GetValue(outputs);
centerPoint = parentScale.Transform(centerPoint);
return(DualQuaternion.FromTranslation(-centerPoint).Chain(localSpaceTransform).Chain(DualQuaternion.FromTranslation(+centerPoint)));
}
public void SprawnCenterPoint(CenterPoint cpoint, GameObject thePoint)
{
Vector3 worldPosition;
worldPosition.x = gameArea.transform.position.x;
worldPosition.y = gameArea.transform.position.y;;
worldPosition.z = 0f;
cpoint.refCenterPoint = Instantiate(thePoint, worldPosition, cpoint.getRotation(), gameArea.transform);
}
void UpdateAllTargets(ChaInfo character)
{
if (character)
{
centerPoint = new CenterPoint(character);
customTargets = UpdateCustomTargets(character);
quickTargets = UpdateQuickTargets(character);
}
}
protected override void GetAttributes()
{
attrs.Clear();
attrs.Add("centerpoint", CenterPoint.ToString());
string str = "";
foreach (var item in ConnectedPipes)
{
str += ModelIdManager.toString(item.BaseModelId) + ",";
}
attrs.Add("connectedpipes", str);
if (this.OwnSolution != null)
{
attrs.Add("solution", Utils.ModelIdManager.toString(this.OwnSolution.BaseModelId));
}
attrs.Add("style", ((int)Style).ToString());
}
/// <summary>
///
/// </summary>
/// <param name="obj"></param>
/// <returns></returns>
protected override bool Equals(DesignScriptEntity obj)
{
if (base.Equals(obj))
{
return(true);
}
var arc = obj as DSArc;
if (arc == null)
{
return(false);
}
return(CenterPoint.Equals(arc.CenterPoint) && Normal.Equals(arc.Normal) &&
DSGeometryExtension.Equals(Radius, arc.Radius));
}
/// <summary>
///
/// </summary>
/// <param name="obj"></param>
/// <returns></returns>
protected override bool Equals(DesignScriptEntity obj)
{
if (base.Equals(obj))
{
return(true);
}
var other = obj as Circle;
if (obj == null || other == null)
{
return(false);
}
return(CenterPoint.Equals(other.CenterPoint) && GeometryExtension.Equals(Radius, other.Radius) &&
Normal.Equals(other.Normal));
}
public void ClearAll()
{
this.font_x = new Font("Arial", 8);
this.font_y = new Font("Arial", 8);
this.background_colour_points = null;
this.Center_X = null;
this.Center_Y = null;
this.is_have_background = false;
this.axis_unit_points_x.Clear();
this.axis_unit_points_y.Clear();
this.is_have_function = false;
this.function = null;
this.Xmin = 0;
this.Xmax = 10;
this.Ymin = 0;
this.Ymax = 10;
this.points.Clear();
this.FindStepsAndCenter();
this.Invalidate();
}
public void UpdateAllTargets(CharInfo character)
{
if (character)
{
allTargets = normalTargets = UpdateNormalTargets(character);
customTargets = UpdateCustomTargets(character);
customTargets.ForEach(target => allTargets.Add(target.GetTarget()));
centerPoint = new CenterPoint(character);
if (centerPoint != null && centerPoint.GetPoint())
{
allTargets.Add(centerPoint.GetPoint());
}
movementPoint = new MovementPoint(character);
allTargets.Add(movementPoint.GetPoint());
}
else
{
if (centerPoint != null)
{
GameObject.Destroy(centerPoint.GetPoint());
centerPoint = null;
}
if (movementPoint != null)
{
GameObject.Destroy(movementPoint.GetPoint());
movementPoint = null;
}
for (int i = 0; i < customTargets.Count; i++)
{
GameObject.Destroy(customTargets[i].GetTarget());
}
allTargets = new List <GameObject>();
normalTargets = new List <GameObject>();
customTargets = new List <CustomTarget>();
}
}
void HandleOnUnite()
{
//List<Point2D> allPoint = ActualPoints;
Edge2D[] centerEdges = CenterPoint.Edges.ToArray();
//Debug.Log("Center Edges Count : " + centerEdges.Length);
for (int i = 0; i < centerEdges.Length; i++)
{
centerEdges[i].DestorySelf();
}
CenterPoint.DestroySelf();
CenterPoint = null;
foreach (var e in BasicEdges)
{
e.DivisionCount--;
if (e.DivisionCount == 0)
{
Edge2D[] middleEdges = e.MiddlePoint.Edges.ToArray();
for (int i = 0; i < middleEdges.Length; i++)
{
middleEdges[i].DestorySelf();
}
e.OnUnite();
}
}
foreach (var child in Childern)
{
Shape.RemoveFace(child);
}
Shape.AddFace(this);
Childern.Clear();
}
public IBrush ToItem(AGSSerializationContext context)
{
switch (Type)
{
case BrushType.Solid:
return(_brushes.LoadSolidBrush(Color.FromHexa(MainColor)));
case BrushType.Linear:
return(_brushes.LoadLinearBrush(LinearColors.Select(c => Color.FromHexa(c)).ToArray(),
Blend.ToItem(context), InterpolationColors.ToItem(context), Transform.ToItem(context), WrapMode, GammaCorrection));
case BrushType.Hatch:
return(_brushes.LoadHatchBrush(HatchStyle, Color.FromHexa(MainColor), Color.FromHexa(BackgroundColor)));
case BrushType.Path:
return(_brushes.LoadPathsGradientBrush(Color.FromHexa(MainColor), CenterPoint.ToItem(context), Blend.ToItem(context),
FocusScales.ToItem(context), LinearColors.Select(c => Color.FromHexa(c)).ToArray(),
InterpolationColors.ToItem(context), Transform.ToItem(context), WrapMode));
default:
throw new NotSupportedException(Type + " brush is not supported!");
}
}
/// <summary>
/// Xác định ví trí tương đối giữa 2 hình tròn
/// </summary>
/// <param name="c2">Hình tròn cần xác đính vị trí với hình hiện tại</param>
/// <returns>
/// </returns>
public RELATIVECIRCLE RelativePosition(Circle c2)
{
double c1c2 = CenterPoint.Distance(c2.CenterPoint);
double r1Cr2 = Radius + c2.Radius;
double r1Tr2 = System.Math.Abs(Radius - c2.Radius);
if (c1c2 > r1Cr2)
{
return(RELATIVECIRCLE.LyingOutside);
}
if (c1c2 == r1Cr2)
{
return(RELATIVECIRCLE.TouchingExternally);
}
if (c1c2 == r1Tr2)
{
return(RELATIVECIRCLE.TouchingInternally);
}
if (c1c2 < r1Tr2)
{
return(RELATIVECIRCLE.OneLyingInsideOther);
}
return(RELATIVECIRCLE.IntersectingAtTwoPoints);
}
public Judgement(float tchTime, float pointT, CenterPoint refPoint)
{
touchTime = tchTime;
pointTime = pointT;
referencePoint = (GameObject)refPoint.refCenterPoint;
}
private void SetItemsPos()
{
double sz;
double x;
double y;
double isz;
double ix;
double iy;
CalcCoos(out x, out y, out sz, out ix, out iy, out isz);
OuterBorder.SetValue(Canvas.LeftProperty, x);
OuterBorder.SetValue(Canvas.TopProperty, y);
OuterBorder.Width = sz;
OuterBorder.Height = sz;
InnerBorder.SetValue(Canvas.LeftProperty, ix);
InnerBorder.SetValue(Canvas.TopProperty, iy);
InnerBorder.Width = isz;
InnerBorder.Height = isz;
if (Brush != null)
{
CenterPoint.SetValue(Canvas.LeftProperty, ix + Brush.Center.X * isz - CenterPoint.Width / 2.0);
CenterPoint.SetValue(Canvas.TopProperty, iy + Brush.Center.Y * isz - CenterPoint.Height / 2.0);
RadiusXPoint.SetValue(Canvas.LeftProperty, ix + (Brush.Center.X + Brush.RadiusX) * isz - RadiusXPoint.Width / 2.0);
RadiusXPoint.SetValue(Canvas.TopProperty, iy + Brush.Center.Y * isz - RadiusXPoint.Height / 2.0);
RadiusYPoint.SetValue(Canvas.LeftProperty, ix + Brush.Center.X * isz - RadiusYPoint.Width / 2.0);
RadiusYPoint.SetValue(Canvas.TopProperty, iy + (Brush.Center.Y + Brush.RadiusY) * isz - RadiusYPoint.Height / 2.0);
OriginXLine.SetValue(Canvas.LeftProperty, ix + Brush.GradientOrigin.X * isz - OriginXLine.Width / 2.0);
OriginYLine.SetValue(Canvas.TopProperty, iy + Brush.GradientOrigin.Y * isz - OriginYLine.Height / 2.0);
OriginXY.SetValue(Canvas.LeftProperty, ix + Brush.GradientOrigin.X * isz - OriginXY.Width / 2.0);
OriginXY.SetValue(Canvas.TopProperty, iy + Brush.GradientOrigin.Y * isz - OriginXY.Height / 2.0);
RadialEllipse.SetValue(Canvas.LeftProperty, ix + (Brush.Center.X - Brush.RadiusX) * isz);
RadialEllipse.SetValue(Canvas.TopProperty, iy + (Brush.Center.Y - Brush.RadiusY) * isz);
RadialEllipse.Width = 2.0 * Brush.RadiusX * isz;
RadialEllipse.Height = 2.0 * Brush.RadiusY * isz;
CenterPoint.Visibility = Visibility.Visible;
RadiusXPoint.Visibility = Visibility.Visible;
RadiusYPoint.Visibility = Visibility.Visible;
OriginXLine.Visibility = Visibility.Visible;
OriginYLine.Visibility = Visibility.Visible;
OriginXY.Visibility = Visibility.Visible;
RadialEllipse.Visibility = Visibility.Visible;
}
else
{
CenterPoint.Visibility = Visibility.Collapsed;
RadiusXPoint.Visibility = Visibility.Collapsed;
RadiusYPoint.Visibility = Visibility.Collapsed;
OriginXLine.Visibility = Visibility.Collapsed;
OriginYLine.Visibility = Visibility.Collapsed;
OriginXY.Visibility = Visibility.Collapsed;
RadialEllipse.Visibility = Visibility.Collapsed;
}
}
public override string ToString()
{
string s = "P1: " + P1.ToString() + " P2: " + P2.ToString() + " CenterPoint: " + CenterPoint.ToString();
return(s);
}
private void FindStepsAndCenter()
{
this.axis_unit_points_x.Clear();
this.axis_unit_points_y.Clear();
if (this.Xmax >= 0 && this.Xmin >= 0)
{
this.MAX_X = this.Xmax - this.Xmin;
}
else if (this.Xmax <= 0 && this.Xmin <= 0)
{
this.MAX_X = Math.Abs(Xmin) - Math.Abs(Xmax);
}
else if (this.Xmin <= 0 && this.Xmax >= 0)
{
this.MAX_X = Math.Abs(Xmin) + Math.Abs(Xmax);
}
if (this.Ymax >= 0 && this.Ymin >= 0)
{
this.MAX_Y = this.Ymax - this.Ymin;
}
else if (this.Ymax <= 0 && this.Ymin <= 0)
{
this.MAX_Y = Math.Abs(Ymin) - Math.Abs(Ymax);
}
else if (this.Ymin <= 0 && this.Ymax >= 0)
{
this.MAX_Y = Math.Abs(Ymin) + Math.Abs(Ymax);
}
//step*************************************
this.Step_X = this.MAX_X / this.Width;
this.Step_Y = this.MAX_Y / this.Height;
//X****************************************
if (this.Xmax >= 0 && this.Xmin >= 0)
{
this.Center_X = new CenterPoint(5, this.Xmin);
}
else if (this.Xmax <= 0 && this.Xmin <= 0)
{
this.Center_X = new CenterPoint(this.Width - 5, this.Xmax);
}
else if (this.Xmin <= 0 && this.Xmax >= 0)
{
this.Center_X = new CenterPoint(Math.Abs(Xmin) / this.Step_X, 0);
}
//Y********************************
if (this.Ymax >= 0 && this.Ymin >= 0)
{
this.Center_Y = new CenterPoint(this.Height - 5, this.Ymin);
}
else if (this.Ymax <= 0 && this.Ymin <= 0)
{
this.Center_Y = new CenterPoint(5, this.Ymax);
}
else if (this.Ymin <= 0 && this.Ymax >= 0)
{
this.Center_Y = new CenterPoint(Math.Abs(this.Ymax) / this.Step_Y, 0);
}
//axis_step**********************************
double number_step_x = (this.Width - 10) / MAX_X;
double number_step_y = (this.Height - 10) / MAX_Y;
if (MAX_X < 2)
{
this.axis_unit_X = 0.1;
this.font_x = new Font("Arial", 10, FontStyle.Bold);
number_step_x *= this.axis_unit_X;
}
else if (MAX_X >= 2 && MAX_X < 10)
{
this.axis_unit_X = 0.5;
this.font_x = new Font("Arial", 9, FontStyle.Bold);
number_step_x *= this.axis_unit_X;
}
else if (MAX_X >= 10 && MAX_X < 30)
{
this.axis_unit_X = 1;
this.font_x = new Font("Arial", 8, FontStyle.Bold);
number_step_x *= this.axis_unit_X;
}
else if (MAX_X >= 30 && MAX_X < 100)
{
this.axis_unit_X = 2;
this.font_x = new Font("Arial", 7, FontStyle.Bold);
number_step_x *= this.axis_unit_X;
}
else
{
this.axis_unit_X = 5;
this.font_x = new Font("Arial", 6, FontStyle.Bold);
number_step_x *= this.axis_unit_X;
}
if (MAX_Y < 2)
{
this.axis_unit_Y = 0.1;
this.font_y = new Font("Arial", 10, FontStyle.Bold);
number_step_y *= this.axis_unit_Y;
}
else if (MAX_Y >= 2 && MAX_Y < 10)
{
this.axis_unit_Y = 0.5;
this.font_y = new Font("Arial", 9, FontStyle.Bold);
number_step_y *= this.axis_unit_Y;
}
else if (MAX_Y >= 10 && MAX_Y < 30)
{
this.axis_unit_Y = 1;
this.font_y = new Font("Arial", 8, FontStyle.Bold);
number_step_y *= this.axis_unit_Y;
}
else if (MAX_Y >= 30 && MAX_Y < 100)
{
this.axis_unit_Y = 2;
this.font_y = new Font("Arial", 7, FontStyle.Bold);
number_step_y *= this.axis_unit_Y;
}
else
{
this.axis_unit_Y = 5;
this.font_y = new Font("Arial", 6, FontStyle.Bold);
number_step_y *= this.axis_unit_Y;
}
if (this.Xmax >= 0 && this.Xmin >= 0)
{
double start_to_right = this.Center_X.XY;
double unit_to_right = this.Xmin;
while (true)
{
start_to_right += number_step_x;
unit_to_right += this.axis_unit_X;
if (start_to_right > this.Width)
{
break;
}
if (this.Center_Y.XY >= (this.Height - 15))
{
this.axis_unit_points_x.Add(new FPointUint(start_to_right - 5, this.Center_Y.XY - 15, start_to_right, this.Center_Y.XY, unit_to_right));
}
else
{
this.axis_unit_points_x.Add(new FPointUint(start_to_right - 5, this.Center_Y.XY, start_to_right, this.Center_Y.XY, unit_to_right));
}
}
}
else if (this.Xmax <= 0 && this.Xmin <= 0)
{
double start_to_left = this.Center_X.XY;
double unit_to_left = this.Xmax;
while (true)
{
start_to_left -= number_step_x;
unit_to_left -= this.axis_unit_X;
if (start_to_left < 0)
{
break;
}
if (this.Center_Y.XY >= (this.Height - 15))
{
this.axis_unit_points_x.Add(new FPointUint(start_to_left - 5, this.Center_Y.XY - 15, start_to_left, this.Center_Y.XY, unit_to_left));
}
else
{
this.axis_unit_points_x.Add(new FPointUint(start_to_left - 5, this.Center_Y.XY, start_to_left, this.Center_Y.XY, unit_to_left));
}
}
}
else if (this.Xmin <= 0 && this.Xmax >= 0)
{
double start_to_right = this.Center_X.XY;
double unit_to_right = 0;
while (true)
{
start_to_right += number_step_x;
unit_to_right += this.axis_unit_X;
if (start_to_right > this.Width)
{
break;
}
if (this.Center_Y.XY >= (this.Height - 15))
{
this.axis_unit_points_x.Add(new FPointUint(start_to_right - 5, this.Center_Y.XY - 15, start_to_right, this.Center_Y.XY, unit_to_right));
}
else
{
this.axis_unit_points_x.Add(new FPointUint(start_to_right - 5, this.Center_Y.XY, start_to_right, this.Center_Y.XY, unit_to_right));
}
}
double start_to_left = this.Center_X.XY;
double unit_to_left = 0;
while (true)
{
start_to_left -= number_step_x;
unit_to_left -= this.axis_unit_X;
if (start_to_left < 0)
{
break;
}
if (this.Center_Y.XY >= (this.Height - 15))
{
this.axis_unit_points_x.Add(new FPointUint(start_to_left - 5, this.Center_Y.XY - 15, start_to_left, this.Center_Y.XY, unit_to_left));
}
else
{
this.axis_unit_points_x.Add(new FPointUint(start_to_left - 5, this.Center_Y.XY, start_to_left, this.Center_Y.XY, unit_to_left));
}
}
}
if (this.Ymax >= 0 && this.Ymin >= 0)
{
double start_to_up = this.Center_Y.XY;
double unit_to_up = this.Ymin;
while (true)
{
start_to_up -= number_step_y;
unit_to_up += this.axis_unit_Y;
if (start_to_up < 0)
{
break;
}
if (this.Center_X.XY >= (this.Width - 15))
{
this.axis_unit_points_y.Add(new FPointUint(this.Center_X.XY - 15, start_to_up - 5, this.Center_X.XY, start_to_up, unit_to_up));
}
else
{
this.axis_unit_points_y.Add(new FPointUint(this.Center_X.XY, start_to_up - 5, this.Center_X.XY, start_to_up, unit_to_up));
}
}
}
else if (this.Ymax <= 0 && this.Ymin <= 0)
{
double start_to_down = this.Center_Y.XY;
double unit_to_down = this.Ymax;
while (true)
{
start_to_down += number_step_y;
unit_to_down -= this.axis_unit_Y;
if (start_to_down > this.Height)
{
break;
}
if (this.Center_X.XY >= (this.Width - 15))
{
this.axis_unit_points_y.Add(new FPointUint(this.Center_X.XY - 15, start_to_down - 5, this.Center_X.XY, start_to_down, unit_to_down));
}
else
{
this.axis_unit_points_y.Add(new FPointUint(this.Center_X.XY, start_to_down - 5, this.Center_X.XY, start_to_down, unit_to_down));
}
}
}
else if (this.Ymin <= 0 && this.Ymax >= 0)
{
double start_to_up = this.Center_Y.XY;
double unit_to_up = 0;
while (true)
{
start_to_up -= number_step_y;
unit_to_up += this.axis_unit_Y;
if (start_to_up < 0)
{
break;
}
if (this.Center_X.XY >= (this.Width - 15))
{
this.axis_unit_points_y.Add(new FPointUint(this.Center_X.XY - 15, start_to_up - 5, this.Center_X.XY, start_to_up, unit_to_up));
}
else
{
this.axis_unit_points_y.Add(new FPointUint(this.Center_X.XY, start_to_up - 5, this.Center_X.XY, start_to_up, unit_to_up));
}
}
double start_to_down = this.Center_Y.XY;
double unit_to_down = 0;
while (true)
{
start_to_down += number_step_y;
unit_to_down -= this.axis_unit_Y;
if (start_to_down > this.Height)
{
break;
}
if (this.Center_X.XY >= (this.Width - 15))
{
this.axis_unit_points_y.Add(new FPointUint(this.Center_X.XY - 15, start_to_down - 5, this.Center_X.XY, start_to_down, unit_to_down));
}
else
{
this.axis_unit_points_y.Add(new FPointUint(this.Center_X.XY, start_to_down - 5, this.Center_X.XY, start_to_down, unit_to_down));
}
}
}
}
private void btnFindSearchArea_Click(object sender, EventArgs e)
{
double _OffsetX = MapDataParam.Unit.PatternAreaOriginX - MapDataParam.Unit.PatternAreaCenterX;
double _OffsetY = MapDataParam.Unit.PatternAreaOriginY - MapDataParam.Unit.PatternAreaCenterY;
InspPattern.SetPatternReference(MapDataParam.Info.UnitPattern);
InspPattern.SetMatchingParameter(MapDataParam.Info.FindCount, MapDataParam.Info.FindScore);
if (false == InspPattern.Run(OriginImage))
{
MessageBox.Show("Pattern Not Found"); return;
}
CogPMAlignResults _PatternResult = InspPattern.GetResults();
if (null == _PatternResult)
{
return;
}
MapDataParam.Info.UnitListCenterX.Clear();
MapDataParam.Info.UnitListCenterY.Clear();
MapDataParam.Info.UnitListWidth.Clear();
MapDataParam.Info.UnitListHeight.Clear();
if (_PatternResult.Count > 0)
{
double[] _OriginX, _OriginY, _CenterX, _CenterY, _Width, _Height;
_OriginX = new double[_PatternResult.Count];
_OriginY = new double[_PatternResult.Count];
_CenterX = new double[_PatternResult.Count];
_CenterY = new double[_PatternResult.Count];
_Width = new double[_PatternResult.Count];
_Height = new double[_PatternResult.Count];
uint _RowCount = Convert.ToUInt32(numUpDownUnitRowCount.Value);
uint _ColCount = Convert.ToUInt32(numUpDownUnitColumnCount.Value);
CenterPoint[] _CenterPointArray = new CenterPoint[_RowCount * _ColCount];
for (int iLoopCount = 0; iLoopCount < _PatternResult.Count; ++iLoopCount)
{
_OriginX[iLoopCount] = _PatternResult[iLoopCount].GetPose().TranslationX;
_OriginY[iLoopCount] = _PatternResult[iLoopCount].GetPose().TranslationY;
_CenterX[iLoopCount] = _PatternResult[iLoopCount].GetPose().TranslationX - _OffsetX;
_CenterY[iLoopCount] = _PatternResult[iLoopCount].GetPose().TranslationY - _OffsetY;
_Width[iLoopCount] = _PatternResult.GetTrainArea().Width;
_Height[iLoopCount] = _PatternResult.GetTrainArea().Height;
CogRectangle _FindPattern = new CogRectangle();
_FindPattern.SetCenterWidthHeight(_CenterX[iLoopCount], _CenterY[iLoopCount], MapDataParam.Unit.SearchAreaWidth, MapDataParam.Unit.SearchAreaHeight);
kpTeachDisplay.DrawStaticShape(_FindPattern, "SearchArea" + (iLoopCount + 1));
CogPointMarker _OriginPoint = new CogPointMarker();
_OriginPoint.SetCenterRotationSize(_OriginX[iLoopCount], _OriginY[iLoopCount], 0, 2);
kpTeachDisplay.DrawStaticShape(_OriginPoint, "PatternOrigin" + (iLoopCount + 1), CogColorConstants.Green, 12);
MapDataParam.Info.UnitListCenterX.Add(_CenterX[iLoopCount]);
MapDataParam.Info.UnitListCenterY.Add(_CenterY[iLoopCount]);
MapDataParam.Info.UnitListWidth.Add(_Width[iLoopCount]);
MapDataParam.Info.UnitListHeight.Add(_Height[iLoopCount]);
if (_CenterPointArray.Length > iLoopCount)
{
_CenterPointArray[iLoopCount] = new CenterPoint();
_CenterPointArray[iLoopCount].X = _CenterX[iLoopCount];
_CenterPointArray[iLoopCount].Y = _CenterY[iLoopCount];
}
}
if ((_RowCount * _ColCount) != _PatternResult.Count)
{
MessageBox.Show("Unit 개수와 Find Result 개수가 맞지 않습니다.");
return;
}
else
{
CenterPoint[,] _SortedCenterPoint = CenterPointSort(_RowCount, _ColCount, _CenterPointArray);
MapDataParam.Info.UnitListCenterX.Clear();
MapDataParam.Info.UnitListCenterY.Clear();
for (int iLoopCount = 0; iLoopCount < _RowCount; ++iLoopCount)
{
for (int jLoopCount = 0; jLoopCount < _ColCount; ++jLoopCount)
{
MapDataParam.Info.UnitListCenterX.Add(_SortedCenterPoint[iLoopCount, jLoopCount].X);
MapDataParam.Info.UnitListCenterY.Add(_SortedCenterPoint[iLoopCount, jLoopCount].Y);
}
}
SelectingRectName = SelectedRectName = "";
IsDrawPatterns = true;
MessageBox.Show("Pattern Find Complete");
}
}
}
public override string UniqueString()
{
return("Circle " + CenterPoint.ToString() + " " + Radius + " " + FillColor);
}
private void btnManualSearchAreaSet_Click(object sender, EventArgs e)
{
uint _RowCount = Convert.ToUInt32(numUpDownUnitRowCount.Value);
uint _ColCount = Convert.ToUInt32(numUpDownUnitColumnCount.Value);
CogRectangle _WholePatternRegion = kpTeachDisplay.GetInterActiveRectangle();
MapDataParam.Whole.SearchAreaCenterX = _WholePatternRegion.CenterX;
MapDataParam.Whole.SearchAreaCenterY = _WholePatternRegion.CenterY;
MapDataParam.Whole.SearchAreaWidth = _WholePatternRegion.Width;
MapDataParam.Whole.SearchAreaHeight = _WholePatternRegion.Height;
double _Width, _Height;
_Width = _WholePatternRegion.Width / _ColCount;
_Height = _WholePatternRegion.Height / _RowCount;
double _StartCenterPointX, _StartCenterPointY, _CenterPointX, _CenterPointY;
_StartCenterPointX = _WholePatternRegion.X + _Width / 2;
_StartCenterPointY = _WholePatternRegion.Y + _Height / 2;
kpTeachDisplay.ClearDisplay();
MapDataParam.Info.UnitListCenterX.Clear();
MapDataParam.Info.UnitListCenterY.Clear();
MapDataParam.Info.UnitListWidth.Clear();
MapDataParam.Info.UnitListHeight.Clear();
CogRectangle[,] _PatternRegions = new CogRectangle[_RowCount, _ColCount];
CenterPoint[] _CenterPointArray = new CenterPoint[_RowCount * _ColCount];
int _Index = 0;
for (int iLoopCount = 0; iLoopCount < _RowCount; ++iLoopCount)
{
_CenterPointY = _StartCenterPointY + (_Height * iLoopCount);
for (int jLoopCount = 0; jLoopCount < _ColCount; ++jLoopCount)
{
_CenterPointX = _StartCenterPointX + (_Width * jLoopCount);
_PatternRegions[iLoopCount, jLoopCount] = new CogRectangle();
_PatternRegions[iLoopCount, jLoopCount].SetCenterWidthHeight(_CenterPointX, _CenterPointY, _Width, _Height);
MapDataParam.Info.UnitListCenterX.Add(_PatternRegions[iLoopCount, jLoopCount].CenterX);
MapDataParam.Info.UnitListCenterY.Add(_PatternRegions[iLoopCount, jLoopCount].CenterY);
MapDataParam.Info.UnitListWidth.Add(_PatternRegions[iLoopCount, jLoopCount].Width);
MapDataParam.Info.UnitListHeight.Add(_PatternRegions[iLoopCount, jLoopCount].Height);
_CenterPointArray[_Index] = new CenterPoint();
_CenterPointArray[_Index].X = _PatternRegions[iLoopCount, jLoopCount].CenterX;
_CenterPointArray[_Index].Y = _PatternRegions[iLoopCount, jLoopCount].CenterY;
_Index++;
}
}
CenterPoint[,] _SortedCenterPoint = CenterPointSort(_RowCount, _ColCount, _CenterPointArray);
MapDataParam.Info.UnitListCenterX.Clear();
MapDataParam.Info.UnitListCenterY.Clear();
for (int iLoopCount = 0; iLoopCount < _RowCount; ++iLoopCount)
{
for (int jLoopCount = 0; jLoopCount < _ColCount; ++jLoopCount)
{
MapDataParam.Info.UnitListCenterX.Add(_SortedCenterPoint[iLoopCount, jLoopCount].X);
MapDataParam.Info.UnitListCenterY.Add(_SortedCenterPoint[iLoopCount, jLoopCount].Y);
}
}
btnShowSearchArea_Click(null, null);
}
void Update()
{
if (currentSpeed > endSpeed)
{
currentSpeed -= speedDecreaseRate * Time.deltaTime;
if (currentSpeed < endSpeed)
{
currentSpeed = endSpeed;
}
}
if (nextWaypoint)
{
tempPos = this.transform.position;
tempNextPos = nextWaypoint.transform.position;
tempDirection = tempNextPos - tempPos;
tempDirection.y = 0;
tempDirection.Normalize();
// speed
tempDirection *= currentSpeed;
this.transform.position = new Vector3(tempPos.x + (tempDirection.x * Time.deltaTime), tempPos.y, tempPos.z + (tempDirection.z * Time.deltaTime));
tempResultPos = this.transform.position;
/*Debug.Log("====T " + tempPos.ToString());
* Debug.Log("====N " + tempNextPos.ToString());
* Debug.Log("====R " + tempResultPos.ToString());
* Debug.Log("^^ 1: " + ((tempPos.x - tempNextPos.x) * (tempResultPos.x - tempNextPos.x)));
* Debug.Log("^^ 2: " + ((tempPos.z - tempNextPos.z) * (tempResultPos.z - tempNextPos.z)));*/
if (((tempPos.x - tempNextPos.x) * (tempResultPos.x - tempNextPos.x)) <= 0 && ((tempPos.z - tempNextPos.z) * (tempResultPos.z - tempNextPos.z)) <= 0)
{
this.transform.position = new Vector3(tempNextPos.x, this.transform.position.y, tempNextPos.z);
if (nextWaypoint.GetNextWaypoint())
{
nextWaypoint = nextWaypoint.GetNextWaypoint();
}
else
{
nextCenterPoint = nextWaypoint.GetCenterPoint();
nextWaypoint = null;
}
}
}
else if (nextCenterPoint)
{
tempPos = this.transform.position;
tempNextPos = nextCenterPoint.transform.position;
tempDirection = tempNextPos - tempPos;
tempDirection.y = 0;
tempDirection.Normalize();
// speed
tempDirection *= currentSpeed;
this.transform.position = new Vector3(tempPos.x + (tempDirection.x * Time.deltaTime), this.transform.position.y, tempPos.z + (tempDirection.z * Time.deltaTime));
tempResultPos = this.transform.position;
// to the center, just destroy
if (((tempPos.x - tempNextPos.x) * (tempResultPos.x - tempNextPos.x)) <= 0 && ((tempPos.z - tempNextPos.z) * (tempResultPos.z - tempNextPos.z)) <= 0)
{
this.transform.position = tempNextPos;
Destroy(this.gameObject);
}
}
else
{
Debug.LogError("#### No next target, should be destroyed!");
}
}
private CenterPoint[,] CenterPointSort(uint _RowCount, uint _ColCount, CenterPoint[] _CenterPointArray)
{
int _Index = 0;
CenterPoint[,] _SortedCenterPoint = new CenterPoint[_RowCount, _ColCount];
//Y 축 방향으로 오름차순 정렬
Array.Sort(_CenterPointArray, delegate(CenterPoint _First, CenterPoint _Second) { return(_First.Y.CompareTo(_Second.Y)); });
for (int iLoopCount = 0; iLoopCount < _RowCount; ++iLoopCount)
{
var _CenterPointReferY = new CenterPoint[_ColCount];
for (int jLoopCount = 0; jLoopCount < _ColCount; ++jLoopCount)
{
_CenterPointReferY[jLoopCount] = _CenterPointArray[_Index++];
}
//if (iLoopCount % 2 == 1) Array.Sort(_CenterPointReferY, delegate (CenterPoint _First, CenterPoint _Second) { return _Second.X.CompareTo(_First.X); }); //지그재그
//else Array.Sort(_CenterPointReferY, delegate (CenterPoint _First, CenterPoint _Second) { return _First.X.CompareTo(_Second.X); }); //노멀
if (eSearchType.NORMAL == (eSearchType)MapDataParam.Info.SearchType)
{
Array.Sort(_CenterPointReferY, delegate(CenterPoint _First, CenterPoint _Second) { return(_First.X.CompareTo(_Second.X)); }); //노멀
}
else if (eSearchType.NORMAL_REV == (eSearchType)MapDataParam.Info.SearchType)
{
Array.Sort(_CenterPointReferY, delegate(CenterPoint _First, CenterPoint _Second) { return(_Second.X.CompareTo(_First.X)); }); //노멀
}
else if (eSearchType.ZIGZAG == (eSearchType)MapDataParam.Info.SearchType)
{
if (iLoopCount % 2 == 1)
{
Array.Sort(_CenterPointReferY, delegate(CenterPoint _First, CenterPoint _Second) { return(_Second.X.CompareTo(_First.X)); });
}
else
{
Array.Sort(_CenterPointReferY, delegate(CenterPoint _First, CenterPoint _Second) { return(_First.X.CompareTo(_Second.X)); });
}
}
else if (eSearchType.ZIGZAG_REV == (eSearchType)MapDataParam.Info.SearchType)
{
if (iLoopCount % 2 == 0)
{
Array.Sort(_CenterPointReferY, delegate(CenterPoint _First, CenterPoint _Second) { return(_Second.X.CompareTo(_First.X)); }); //지그재그
}
else
{
Array.Sort(_CenterPointReferY, delegate(CenterPoint _First, CenterPoint _Second) { return(_First.X.CompareTo(_Second.X)); }); //노멀
}
}
for (int jLoopCount = 0; jLoopCount < _ColCount; ++jLoopCount)
{
_SortedCenterPoint[iLoopCount, jLoopCount] = new CenterPoint();
_SortedCenterPoint[iLoopCount, jLoopCount] = _CenterPointReferY[jLoopCount];
}
}
return(_SortedCenterPoint);
}
public double GetDistanceSquareToCenter(PointModel p)
{
return(CenterPoint.GetDistanceSquare(p));
}
