public Wall(Wall k)
{
name = k.name;
//Console.WriteLine(name);
colored = false;
line = new Line2D(k.line);
//set center point
location = line.midpoint();
dynamic = false;
visible = k.visible;
}
private void MouseMoveHandler(object sender, MouseEventArgs e)
{
if (drawMode == drawModes.selectMode)
{
if (bDragDisplay)
{
//how far has the wall been dragged?
int dx = e.X - x1;
int dy = e.Y - y1;
x1 = e.X;
y1 = e.Y;
float odx,ody;
frame.offset_from_display((float)dx,(float)dy,out odx, out ody);
frame.cx-=odx;
frame.cy-=ody;
}
if (bSelected_wall)
{
//wall-dragging code
//how far has the wall been dragged?
int dx = e.X - x1;
int dy = e.Y - y1;
x1 = e.X;
y1 = e.Y;
float odx,ody;
frame.offset_from_display((float)dx,(float)dy,out odx, out ody);
if (selectMode == selectModes.dragMode)
{
//update wall's position
selected_wall.line.p1.x += odx;
selected_wall.line.p1.y += ody;
selected_wall.line.p2.x += odx;
selected_wall.line.p2.y += ody;
}
if (selectMode == selectModes.rotateMode)
{
Point2D midpoint = selected_wall.line.midpoint();
selected_wall.line.p1.rotate(dy / 180.0 * 3.14, midpoint);
selected_wall.line.p2.rotate(dy / 180.0 * 3.14, midpoint);
}
if (selectMode == selectModes.scaleMode)
{
selected_wall.line.scale(1.0 + 0.05 * dy);
}
Invalidate();
}
if (bSelected_robot)
{
//robot-dragging code
//how far has the robot been dragged?
int dx = e.X - x1;
int dy = e.Y - y1;
x1 = e.X;
y1 = e.Y;
float odx,ody;
frame.offset_from_display((float)dx,(float)dy,out odx, out ody);
//update robot's position
if (selectMode == selectModes.dragMode)
{
selected_robot.location.x += odx;
selected_robot.location.y += ody;
}
if (selectMode == selectModes.rotateMode)
{
selected_robot.heading += (dy / 10.0);
}
if (selectMode == selectModes.scaleMode)
{
selected_robot.radius += (dy / 2.0);
if (selected_robot.radius < 1.0)
selected_robot.radius = 1.0;
selected_robot.circle.radius = selected_robot.radius;
}
Invalidate();
}
}
if (drawMode == drawModes.selectMode && !bSelected_wall && !bSelected_robot)
{
selected_wall = null;
selected_robot = null;
display_snap = false;
//find snap
Point2D newpoint = new Point2D((double)e.X, (double)e.Y);
if (experiment != null)
{
if(experiment.robots!=null)
foreach (Robot robot in experiment.robots)
{
Point2D screen_location = frame.to_display(robot.location);
if (screen_location.distance(newpoint) < 20.0)
{
display_snap = true;
snapx = (int)screen_location.x;
snapy = (int)screen_location.y;
selected_robot = robot;
}
}
if(experiment.environment.walls!=null)
foreach (Wall wall in experiment.environment.walls)
{
Point2D screen_location = frame.to_display(wall.location);
if (screen_location.distance(newpoint) < 20.0)
{
display_snap = true;
snapx = (int)screen_location.x;
snapy = (int)screen_location.y;
selected_wall = wall;
}
}
int index = 0;
selected_POI = -1;
if (experiment.environment.walls != null)
foreach (Point p in experiment.environment.POIPosition)
{
Point2D screen_location = frame.to_display(new Point2D(p.X, p.Y));
if (screen_location.distance(newpoint) < 20.0)
{
display_snap = true;
snapx = (int)screen_location.x;
snapy = (int)screen_location.y;
selected_POI = index;
}
index++;
}
}
Invalidate();
}
if (drawMode == drawModes.wallMode)
{
display_snap = false;
//find snap
Point2D newpoint = new Point2D((double)e.X, (double)e.Y);
foreach (Wall wall in experiment.environment.walls)
{
Point2D screen_location1 = frame.to_display(wall.line.p1);
Point2D screen_location2 = frame.to_display(wall.line.p2);
if (screen_location1.distance(newpoint) < 10.0)
{
display_snap = true;
snapx = (int)screen_location1.x;
snapy = (int)screen_location1.y;
}
if (screen_location2.distance(newpoint) < 10.0)
{
display_snap = true;
snapx = (int)screen_location2.x;
snapy = (int)screen_location2.y;
}
}
x2 = e.X;
y2 = e.Y;
Invalidate();
}
if (drawMode == drawModes.AOIMode && displayAOIRectangle)
{
float ox,oy;
frame.from_display(e.X,e.Y,out ox,out oy);
experiment.environment.AOIRectangle = new Rectangle(experiment.environment.AOIRectangle.X,
experiment.environment.AOIRectangle.Y,(int) ox - experiment.environment.AOIRectangle.X, (int) oy - experiment.environment.AOIRectangle.Y);
Invalidate();
}
}
private void MouseUpHandler(object sender, MouseEventArgs e)
{
if (drawMode == drawModes.selectMode)
{
if (bSelected_wall && selected_wall != null)
selected_wall.location = selected_wall.line.midpoint();
bSelected_wall = false;
bDragDisplay = false;
bSelected_robot = false;
Invalidate();
}
if (drawMode == drawModes.wallMode)
{
x2 = e.X;
y2 = e.Y;
if (display_snap)
{
x2 = snapx;
y2 = snapy;
}
display_tempwall = false;
float ox1,oy1,ox2,oy2;
frame.from_display((float)x1,(float)y1,out ox1, out oy1);
frame.from_display((float)x2,(float)y2,out ox2, out oy2);
Wall new_wall = new Wall((double)ox1, (double)oy1, (double)ox2, (double)oy2, true, "");
experiment.environment.walls.Add(new_wall);
Invalidate();
}
if (drawMode == drawModes.AOIMode)
{
displayAOIRectangle = false;
}
}
//handles key down event...e.g. control keys like delete
private void KeyDownHandler(object sender, System.Windows.Forms.KeyEventArgs e)
{
/*if (this.experiment.robots!=null)
if(this.experiment.robots.Count>0) {
if(this.experiment.robots[0] is Khepera3RobotModelJoy) {
Khepera3RobotModelJoy k = (Khepera3RobotModelJoy)this.experiment.robots[0];
if(e.KeyCode ==Keys.Z) k.SetCommand(1);
if(e.KeyCode ==Keys.X) k.SetCommand(0);
if(e.KeyCode ==Keys.C) k.SetCommand(2);
if(e.KeyCode ==Keys.Space) k.SetCommand(3);
}
}*/
if (drawMode == drawModes.selectMode)
{
if (e.KeyCode == Keys.W)
{
if (selected_wall != null)
{
Wall thewall = selected_wall;
//InputBoxSample.InputBoxResult result;
ObjectRenamer or = new ObjectRenamer(selected_wall.name);
DialogResult result = or.ShowDialog(this);
//result = InputBoxSample.InputBox.Show("Name wall", "Name wall", selected_wall.name, null);
if (result == DialogResult.OK)
{
//System.Console.WriteLine(selected_wall.name);
thewall.name = or.textBox1.Text;
}
}
}
if (e.KeyCode == Keys.D)
robot_display_debug=!robot_display_debug;
if (e.KeyCode == Keys.V)
{
if (selected_wall != null)
{
selected_wall.visible = !selected_wall.visible;
}
}
if (e.KeyCode == Keys.Delete)
{
if (selected_wall != null)
experiment.environment.walls.Remove(selected_wall);
selected_wall = null;
if (selected_POI != -1)
{
experiment.environment.POIPosition.RemoveAt(selected_POI);
selected_POI = -1;
}
display_snap = false;
Invalidate();
}
}
}
public static bool collide(Robot a, Wall b)
{
return EngineUtilities.collide(b, a);
}
public static bool collide(Wall wall, Robot robot)
{
Point2D a1 = new Point2D(wall.line.p1);
Point2D a2 = new Point2D(wall.line.p2);
Point2D b = new Point2D(robot.location.x, robot.location.y);
if (!wall.visible)
return false;
double rad = robot.radius;
double r = ((b.x - a1.x) * (a2.x - a1.x) + (b.y - a1.y) * (a2.y - a1.y)) / wall.line.length_sq();
double px = a1.x + r * (a2.x - a1.x);
double py = a1.y + r * (a2.y - a1.y);
Point2D np = new Point2D(px, py);
double rad_sq = rad * rad;
if (r >= 0.0f && r <= 1.0f)
{
if (np.distance_sq(b) < rad_sq)
return true;
else
return false;
}
double d1 = b.distance_sq(a1);
double d2 = b.distance_sq(a2);
if (d1 < rad_sq || d2 < rad_sq)
return true;
else
return false;
}
//wall-wall (should never collide)
public static bool collide(Wall a, Wall b)
{
return false;
}
public static bool collide(Robot a, Wall b)
{
return(EngineUtilities.collide(b, a));
}
//TODO dashedPen.DashStyle = System.Drawing.Drawing2D.DashStyle.Dash;
//TODO how can a new object handle collsions differently?
#region Collision Handling
//wall-wall (should never collide)
public static bool collide(Wall a, Wall b)
{
return(false);
}
