void t_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
{
if (control.IsHandleCreated == false || control.IsDisposed)
{
renderTimer.Enabled = false;
return;
}
if (isAlreadyRendering)
{
return;
}
isAlreadyRendering = true;
control.BeginInvoke(new MethodInvoker(delegate
{
if (BeforeRendering != null)
{
BeforeRendering(this, null);
}
w.ScreenSize = control.Size;
w.CenterPoint = new PointF(translation.X + xOff, translation.Y + yOff);
lock (renderLock)
{
Gl.glLoadIdentity();
GLUtility.SetClearColor(clearColor);
camCurrent.UpdateWithWorldTransform(w);
camPrev.UpdateWithWorldTransform(w);
double camT = 1.0;
GLUtility.InitScene(camCurrent, camPrev, camT, control.Size);
GLUtility.DrawGrid3D(1, w, -0.1f, Color.LightGray, Color.Black, Color.Red);
//make sure everything in the rendering chain gets rendered....
Dictionary <IRender, bool> didRender = new Dictionary <IRender, bool>(drawables.Count);
foreach (IRender r in drawables)
{
didRender.Add(r, false);
}
foreach (IRender r in drawables)
{
if (r != null && !r.VehicleRelative)
{
r.Draw(this);
if (didRender.ContainsKey(r))
{
didRender[r] = true;
}
}
}
lock (robotPoseLock)
{
foreach (KeyValuePair <int, RobotPose> kvp in robotPoses)
{
GLUtility.GoToVehicleCoordinates((float)kvp.Value.yaw, new PointF((float)kvp.Value.x, (float)kvp.Value.y), false);
foreach (IRender r in drawables)
{
if (r != null && r.VehicleRelative && r.VehicleRelativeID == kvp.Key)
{
r.Draw(this); if (didRender.ContainsKey(r))
{
didRender[r] = true;
}
}
}
GLUtility.ComeBackFromVehicleCoordinates();
}
}
//check we rendered everytihng!
foreach (KeyValuePair <IRender, bool> kvp in didRender)
{
if (kvp.Value == false)
{
//Console.WriteLine("Renderer warning: did not render " + kvp.Key.GetName() + " correctly becuase robot " + kvp.Key.VehicleRelativeID + " has no pose in the renderer. Rendering at Pose (0,0,0)");
if (kvp.Key != null)
{
kvp.Key.Draw(this);
}
}
}
//draw the tools....
foreach (IRenderTool tool in tools)
{
if (tool.IsActive)
{
tool.Draw(this);
}
}
control.SwapBuffers();
if (AfterRendering != null)
{
AfterRendering(this, null);
}
isAlreadyRendering = false;
}
}));
}
