private void drawRobotBody(Robot robot, Pen pen, Graphics g)
{
PointF[] spike = DrawerUtils.Rotate(AngleUtils.ToRads(robot.ANGLE), PointF.Empty, DefaultDrawer.spike);
PointF[] bottom = DrawerUtils.Rotate(AngleUtils.ToRads(robot.ANGLE), PointF.Empty, DefaultDrawer.bottom);
PointF robotPosition = robot.GetPosition();
Pen teamPen = DefaultDrawer.GetTeamPen(robot.TEAM_ID);
lock (g) {
lock (teamPen) {
float oldTeamPenWidth = teamPen.Width;
teamPen.Width = 5;
g.DrawLines(teamPen, DrawerUtils.Translate(robotPosition, spike));
teamPen.Width = oldTeamPenWidth;
}
lock (pen) {
pen.Width = 5;
g.DrawLines(pen, DrawerUtils.Translate(robotPosition, bottom));
}
lock (Brushes.Red) {
g.FillEllipse(Brushes.Red, robotPosition.X - 1, robotPosition.Y - 1, 2, 2);
}
}
}
/// <inheritdoc />
public void DrawScan(Scan scan, Graphics g, int turn)
{
int index = turn;
Pen pen = scannerPen[index];
double startAngle = scan.ANGLE - scan.PRECISION + 360;
double stopAngle = scan.ANGLE + scan.PRECISION + 360;
if (turn == 0)
{
PointF scanPosition = scan.GetPosition();
PointF endScan1 = DrawerUtils.Translate(scanPosition,
DrawerUtils.Rotate(AngleUtils.ToRads(startAngle), PointF.Empty,
new PointF((float)scan.DISTANCE, 0F)));
PointF endScan2 = DrawerUtils.Translate(scanPosition,
DrawerUtils.Rotate(AngleUtils.ToRads(stopAngle), PointF.Empty,
new PointF((float)scan.DISTANCE, 0F)));
lock (g) {
lock (pen) {
pen.Width = 2;
g.DrawLine(pen, scanPosition, endScan1);
g.DrawLine(pen, scanPosition, endScan2);
}
}
}
RectangleF circle = new RectangleF(
(float)(scan.X - scan.DISTANCE),
(float)(scan.Y - scan.DISTANCE),
(float)scan.DISTANCE * 2,
(float)scan.DISTANCE * 2
);
if (scan.PRECISION > 0 && scan.DISTANCE > 0)
{
lock (g) {
lock (pen) {
g.DrawArc(pen, circle, (float)startAngle, (float)scan.PRECISION * 2);
}
}
}
}