//private int lastRandX = 100;
//private int lastRandY = 100;
//Random tempRandom = new Random();
private async void Found(object sender, PenFoundEventArgs penPositionEventArgs)
{
//Bitmap redaction = (Bitmap)e.Frame.Bitmap.Clone();
PointFrame pointFrame = penPositionEventArgs.Frame;
if (pointFrame != null)
{
penDrawingBuffer.Enqueue(pointFrame);
}
// draw points in buffer to image
using (Graphics g = Graphics.FromImage(_bitmap))
{
using (SolidBrush brush = new SolidBrush(Color.Black))
{
Point previousPoint = Point.Empty;
foreach (PointFrame f in penDrawingBuffer)
{
g.DrawEllipse(Pens.Green, f.Point.X - 3, f.Point.Y - 3, 3, 3);
if (!previousPoint.IsEmpty && PointTools.CalculateDistance(previousPoint, f.Point) < 50)
{
g.DrawLine(Pens.Red, previousPoint, f.Point);
}
previousPoint = f.Point;
}
}
g.Save();
this.calibrationPictureBox.Image = _bitmap;
}
}
public static bool IsRectangleInEllipse(int rectangleX, int rectangleY, int rectangleWidth, int rectangleHeight, int x, int y)
{
var relMiddleCenterX = rectangleWidth / 2f;
var relMiddleCenterY = rectangleHeight / 2f;
var absMiddleCenterX = rectangleX + relMiddleCenterX;
var absMiddleCenterY = rectangleY + relMiddleCenterY;
//
return(PointTools.IsPointInEllipse(absMiddleCenterX, absMiddleCenterY, relMiddleCenterX, relMiddleCenterY, x, y));
}
/// <summary> 获取多边形点的序号
/// </summary>
/// <param name="point">点</param>
/// <returns>点序号</returns>
public virtual int GetPolygonPointIndex(PointF point)
{
point = new PointF(point.X + this.X + this.BorderWidth, point.Y + this.Y + this.BorderWidth);
var select = this.Polygon.Select((p, i) => new { Index = i, Point = p }).Where(p => PointTools.Distance(new PointF(p.Point.X, p.Point.Y), point) <= PolygonPointsRadius).OrderBy(p => PointTools.Distance(new PointF(p.Point.X, p.Point.Y), point)).FirstOrDefault();
if (select == null)
{
return(-1);
}
else
{
return(select.Index);
}
}
protected internal override bool ContainPoint(PointF p)
{
p = new PointF(p.X + this.X + this.BorderWidth, p.Y + this.Y + this.BorderWidth);
return(PointTools.IsPointInPolygon(p, this.Polygon) || this.Polygon.Any(py => PointTools.Distance(py, p) < PolygonPointsRadius));
}
/// <summary> 多边形是否包含点
/// </summary>
/// <param name="p">点</param>
/// <returns>是否包含点</returns>
protected bool PolygonContainPoint(PointF p)
{
p = new PointF(p.X + this.X + this.BorderWidth, p.Y + this.Y + this.BorderWidth);
return(PointTools.IsPointInPolygon(p, this.PolygonBounds));
}
internal protected override bool ContainPoint(PointF p)
{
return(PointTools.Distance(p, new PointF(this.Width / 2, this.Height / 2)) < ThisRadius);
}
private List <Node> DijkstraBFS(Node pFrom, Node pTo)
{
_todoList.Add(pFrom);
bool done = false;
while (_todoList.Count > 0 && done == false)
{
var currentNode = _todoList.First();
_todoList.Remove(currentNode);
_doneList.Add(currentNode);
_todoListDebug.Add(currentNode);
_doneListDebug.Add(currentNode);
if (currentNode == pTo)
{
done = true;
}
else
{
for (int i = 0; i < currentNode.connections.Count; i++)
{
var connectedNode = currentNode.connections[i];
if (connectedNode.enabled &&
!(_todoList.Contains(connectedNode) || _doneList.Contains(connectedNode)))
{
float distanceFromStart = PointTools.PointDistance(currentNode.location, _startNode.location);
float distanceToNew = PointTools.PointDistance(connectedNode.location, currentNode.location);
connectedNode.distanceCost = distanceFromStart + distanceToNew;
}
else
{
connectedNode.distanceCost = -1;
}
}
var sortedConnections =
currentNode.connections.Where(n => n.distanceCost > 0).OrderBy(n => n.distanceCost);
foreach (var sortedConnection in sortedConnections)
{
var connectedNode = sortedConnection;
connectedNode.nodeParent = currentNode;
_todoList.Add(connectedNode);
}
}
}
if (done == false)
{
return(new List <Node>());
}
var path = BuildPath(_doneList);
Console.WriteLine("\r\nPath:");
foreach (var n in path)
{
Console.WriteLine($"{n.id}");
}
Console.WriteLine("");
return(path);
}
void StepBytepDijkstraBFS()
{
if (_startNode != null && _endNode != null)
{
if (_isStep == false)
{
_isStep = true;
_todoList.Clear();
_doneList.Clear();
_todoListDebug.Clear();
_doneListDebug.Clear();
ClearNodesParents();
_done = false;
_todoList.Add(_startNode);
_todoListDebug.Add(_startNode);
}
if (_todoList.Count > 0 && _done == false)
{
var currentNode = _todoList.First();
_todoList.Remove(currentNode);
_doneList.Add(currentNode);
_todoListDebug.Add(currentNode);
_doneListDebug.Add(currentNode);
if (currentNode == _endNode)
{
_done = true;
}
else
{
for (int i = 0; i < currentNode.connections.Count; i++)
{
var connectedNode = currentNode.connections[i];
if (connectedNode.enabled &&
!(_todoList.Contains(connectedNode) || _doneList.Contains(connectedNode)))
{
float distanceFromStart =
PointTools.PointDistance(currentNode.location, _startNode.location);
float distanceToNew =
PointTools.PointDistance(connectedNode.location, currentNode.location);
connectedNode.distanceCost = distanceFromStart + distanceToNew;
}
else
{
connectedNode.distanceCost = -1;
}
}
var sortedConnections =
currentNode.connections.Where(n => n.distanceCost > 0).OrderBy(n => n.distanceCost);
foreach (var sortedConnection in sortedConnections)
{
var connectedNode = sortedConnection;
connectedNode.nodeParent = currentNode;
_todoList.Add(connectedNode);
}
}
}
if (_done)
{
_isStep = false;
Generate(_startNode, _endNode);
}
else
{
DrawFullPath();
}
}
else
{
_isStep = false;
}
}
