public void Render(Graphics objGraphics) { //render all the cells for (int nd = 0; nd < m_Graph.NumNodes(); ++nd) { int left = (int)(m_Graph.GetNode(nd).Pos.X - m_dCellWidth / 2.0); int top = (int)(m_Graph.GetNode(nd).Pos.Y - m_dCellHeight / 2.0); int right = (int)(1 + m_Graph.GetNode(nd).Pos.X + m_dCellWidth / 2.0); int bottom = (int)(1 + m_Graph.GetNode(nd).Pos.Y + m_dCellHeight / 2.0); Rectangle rect = Rectangle.FromLTRB(left, top, right, bottom); SolidBrush fillBrush = new SolidBrush(Color.Gray); switch (m_TerrainType[nd]) { case (int)brush_type.normal: fillBrush.Color = Color.White; break; case (int)brush_type.obstacle: fillBrush.Color = Color.Black; break; case (int)brush_type.water: fillBrush.Color = Color.DodgerBlue; break; case (int)brush_type.mud: fillBrush.Color = Color.Brown; break; default: fillBrush.Color = Color.White; break; }//end switch objGraphics.FillRectangle(fillBrush, rect); if (m_bShowTiles) { objGraphics.DrawLine(Pens.Gray, rect.Location, new Point(rect.Right, rect.Top)); objGraphics.DrawLine(Pens.Gray, rect.Location, new Point(rect.Left, rect.Bottom)); } if (nd == m_iTargetCell) { rect.Inflate(-4, -4); objGraphics.FillRectangle(Brushes.Red, rect); objGraphics.DrawString("T", m_font, Brushes.Black, rect.Right - (int)(rect.Width * 0.75), rect.Y); } else if (nd == m_iSourceCell) { rect.Inflate(-4, -4); objGraphics.FillRectangle(Brushes.LightGreen, rect); objGraphics.DrawString("S", m_font, Brushes.Black, rect.Right - (int)(rect.Width * 0.75), rect.Y); } //render dots at the corners of the cells objGraphics.DrawLine(m_ThickBlack, left, top, left + 1, top + 1); } //draw the graph nodes and edges if rqd if (m_bShowGraph) { if (m_Graph.NumNodes() > 0) { SparseGraph.NodeIterator NodeItr = new SparseGraph.NodeIterator(m_Graph); while (NodeItr.MoveNext()) { objGraphics.DrawEllipse(Pens.LightGray, (int)(NodeItr.Current.Pos.X - 2), (int)(NodeItr.Current.Pos.Y - 2), (int)2 * 2, (int)2 * 2); SparseGraph.EdgeIterator EdgeItr = new SparseGraph.EdgeIterator(m_Graph, NodeItr.Current.Index); while (EdgeItr.MoveNext()) { objGraphics.DrawLine(Pens.LightGray, (int)NodeItr.Current.Pos.X, (int)NodeItr.Current.Pos.Y, (int)m_Graph.GetNode(EdgeItr.Current.To).Pos.X, (int)m_Graph.GetNode(EdgeItr.Current.To).Pos.Y); } } } } //draw any tree retrieved from the algorithms for (int e = 0; e < m_SubTree.Count; ++e) { if (!NavGraphEdge.IsNull(m_SubTree[e])) { Vector2D from = m_Graph.GetNode(m_SubTree[e].From).Pos; Vector2D to = m_Graph.GetNode(m_SubTree[e].To).Pos; objGraphics.DrawLine(Pens.Red, (int)from.X, (int)from.Y, (int)to.X, (int)to.Y); } } //draw the path (if any) if (m_Path.Count > 0) { for (int i = 0; i < m_Path.Count; ++i) { if (i > 0) { Point start = new Point((int)m_Graph.GetNode(m_Path[i - 1]).Pos.X, (int)m_Graph.GetNode(m_Path[i - 1]).Pos.Y); Point end = new Point((int)m_Graph.GetNode(m_Path[i]).Pos.X, (int)m_Graph.GetNode(m_Path[i]).Pos.Y); objGraphics.DrawLine(m_ThickBlue, start, end); } } } }