public void Draw(Renderer cam)
{
DrawNodeRecrusive(root);
if (goal != null)
{
GLUtility.DrawCircle(goalPen, goal.Point, .1f);
DrawBackFromParent(goal);
}
}
public void Draw(Renderer cam)
{
Vector2 lastPoint = currentPoints.Count > 0 ? currentPoints.ElementAt <Vector2>(0) : new Vector2();
foreach (Vector2 p in currentPoints)
{
GLUtility.DrawCircle(new GLPen(Color.Chartreuse, 1.0f), new PointF((float)p.X, (float)p.Y), 0.25f);
if (!p.Equals(currentPoints.ElementAt <Vector2>(0)))
{
GLUtility.DrawLine(new GLPen(Color.Chartreuse, 1.0f), lastPoint, p);
lastPoint = p;
}
}
}
public void DrawNodeRecrusive(ITreeNode n)
{
if (n == null)
{
return;
}
//draw a link from this node to each of its children
DrawSimulationResults(n, edgePen);
foreach (ITreeNode c in n.Children)
{
GLUtility.DrawCircle(circPen, n.Point, .10f);
//GLUtility.DrawLine(edgePen, n.Point, c.Point);
DrawNodeRecrusive(c);
}
}
public void Draw(Renderer cam)
{
//Console.WriteLine("trying to draw notepoint");
PointF npCenter = new PointF((float)x, (float)y);
GLUtility.DrawCircle(new GLPen(color, 0.25f), npCenter, .1f);
GLUtility.DrawCircle(new GLPen(color, 0.25f), npCenter, .25f);
GLUtility.DrawString(comments, Color.Black, npCenter);
if (name != null)
{
GLUtility.DrawString(name, Color.Black, npCenter);
}
}
public void Draw(Renderer r)
{
if (currentPath == null)
{
return;
}
if (renderer != null)
{
//if (renderer.GetBoundingPolygon().Count > 0)
// Why do we need this?
//GLUtility.DrawLine(new GLPen(color, 1.0f), renderer.GetBoundingPolygon().Center.ToPointF(), currentPath[0].Start.ToPointF());
}
if (draw == true)
{
foreach (IPathSegment seg in currentPath)
{
if (seg is BezierPathSegment)
{
CubicBezier bezier = ((BezierPathSegment)seg).Bezier;
GLUtility.DrawCircle(new GLPen(color, 1.0f), seg.Start.ToPointF(), 0.25f);
GLUtility.DrawCircle(new GLPen(color, 1.0f), seg.End.ToPointF(), 0.25f);
GLUtility.DrawBezier(new GLPen(color, 1.0f), bezier.P0, bezier.P1, bezier.P2, bezier.P3);
GLUtility.DrawCircle(new GLPen(Color.Pink, 1.0f), bezier.P0.ToPointF(), nodeWidth);
GLUtility.DrawCircle(new GLPen(Color.Pink, 1.0f), bezier.P1.ToPointF(), nodeWidth);
GLUtility.DrawCircle(new GLPen(Color.Pink, 1.0f), bezier.P2.ToPointF(), nodeWidth);
GLUtility.DrawCircle(new GLPen(Color.Pink, 1.0f), bezier.P3.ToPointF(), nodeWidth);
}
else
{
GLUtility.DrawCircle(new GLPen(color, 1.0f), seg.Start.ToPointF(), nodeWidth);
GLUtility.DrawCircle(new GLPen(color, 1.0f), seg.End.ToPointF(), nodeWidth);
GLUtility.DrawLine(new GLPen(color, 1.0f), (float)seg.Start.X, (float)seg.Start.Y, (float)seg.End.X, (float)seg.End.Y);
}
}
}
if (currentPath.Count != 0 && renderer != null)
{
IPathSegment ips = currentPath.ElementAt <IPathSegment>(currentPath.Count / 2);
/*GLUtility.DrawString(renderer.GetName(), Color.Black, new PointF((ips.End.ToPointF().X + ips.Start.ToPointF().X) / 2,
* (ips.End.ToPointF().Y + ips.Start.ToPointF().Y) / 2));//*/
}
}
public void Draw(Renderer r)
{
if (isDrawing == true)
{
double i = 0;
Vector2 prevRP1 = new Vector2();
Vector2 prevRP2 = new Vector2();
Vector2 prevRP3 = new Vector2();
foreach (PDFReferencePointRenderer rp in PDFrenderer.PDFReferencePointList)
{
Vector2 refPoint = new Vector2(rp.X, rp.Y); //third point
GLUtility.DrawCircle(new GLPen(Color.Red, 1.0f), refPoint, 0.25f);
prevRP3 = prevRP2;
prevRP2 = prevRP1; //first point
prevRP1.X = rp.X; //second point
prevRP1.Y = rp.Y;
i++;
if (i % 3 == 0 & i > 0)
{
Vector2 RPfirst = prevRP3;
Vector2 RPsecond = prevRP2;
Vector2 RPthird = prevRP1;
Vector2 midpoint = new Vector2(RPfirst.X + (RPsecond.X - RPfirst.X) / 2, RPfirst.Y + (RPsecond.Y - RPfirst.Y) / 2);
GLUtility.DrawEllipse(new GLPen(Color.Green, 1.0f), midpoint, RPthird, RPsecond);
}
}
mu = new Vector2(firstPDFPoint.X + (secondPDFPoint.X - firstPDFPoint.X) / 2, firstPDFPoint.Y + (secondPDFPoint.Y - firstPDFPoint.Y) / 2);
Vector2 delta = new Vector2(secondPDFPoint.X - firstPDFPoint.X, secondPDFPoint.Y - firstPDFPoint.Y);
double thirdPointAngle = delta.ToRadians();
thirdPDFPoint = new Vector2(mu.X + Math.Sin(thirdPointAngle) * height2, mu.Y - Math.Cos(thirdPointAngle) * height2);
if (isGenerating)
{
GLUtility.DrawCross(new GLPen(Color.Red, 1.0f), firstPDFPoint, 0.3f);
GLUtility.DrawCross(new GLPen(Color.Red, 1.0f), mu, 0.3f);
GLUtility.DrawCross(new GLPen(Color.Red, 1.0f), secondPDFPoint, 0.3f);
GLUtility.DrawCross(new GLPen(Color.Red, 1.0f), thirdPDFPoint, 0.3f);
GLUtility.DrawEllipse(new GLPen(Color.Blue, 1.0f), mu, secondPDFPoint, thirdPDFPoint);
}
}
}
public void Draw(Renderer r)
{
if (currentPath == null)
{
return;
}
CubicBezier bezier;
foreach (IPathSegment seg in currentPath)
{
if (!(seg is BezierPathSegment))
{
return;
}
bezier = ((BezierPathSegment)seg).Bezier;
GLUtility.DrawCircle(new GLPen(Color.Green, 1.0f), seg.Start.ToPointF(), 0.25f);
GLUtility.DrawCircle(new GLPen(Color.Green, 1.0f), seg.End.ToPointF(), 0.25f);
GLUtility.DrawBezier(new GLPen(Color.Green, 1.0f), bezier.P0, bezier.P1, bezier.P2, bezier.P3);
}
}
public void Draw(Renderer r)
{
if (type.Equals("circle string"))
{
GLUtility.DrawString("CIRCLE", color, location);
}
else if (type.Equals("path start string"))
{
GLUtility.DrawString("PATH START", color, location);
}
else if (type.Equals("path end string"))
{
GLUtility.DrawString("PATH END", color, location);
}
else if (type.Equals("box string"))
{
GLUtility.DrawString("SQUARE", color, location);
}
else if (type.Equals("x string"))
{
GLUtility.DrawString("X", color, location);
}
else if (type.Equals("arrow string"))
{
PointF arrowHead = new PointF((float)(location.X + arrowlength * Math.Cos(angle)), (float)(location.Y + arrowlength * Math.Sin(angle)));
GLUtility.DrawString("ARROW TAIL", color, location);
GLUtility.DrawString("ARROW HEAD", color, arrowHead);
}
else if (type.Equals("important string"))
{
GLUtility.DrawString("EXCLAMATION MARK", color, location);
}
else if (type.Equals("spiral string"))
{
GLUtility.DrawString("SPIRAL", color, location);
}
else if (type.Equals("polygon string"))
{
GLUtility.DrawString("SHADED AREA", color, location);
}
else if (type.Equals("triangle string"))
{
GLUtility.DrawString("TRIANGLE", color, location);
}
else if (type.Equals("circle"))
{
PointF upperLeft = new PointF((float)(location.X - 0.25), (float)(location.Y - .25));
RectangleF rect = new RectangleF(upperLeft, new SizeF(.5f, .5f));
GLUtility.FillEllipse(color, rect);
}
else if (type.Equals("box"))
{
PointF upperLeft = new PointF((float)(location.X - 0.25), (float)(location.Y - .25));
RectangleF rect = new RectangleF(upperLeft, new SizeF(.5f, .5f));
GLUtility.FillRectangle(color, rect);
}
else if (type.Equals("triangle"))
{
PointF p1 = new PointF((float)(location.X - 0.25), (float)(location.Y - 0.25));
PointF p2 = new PointF((float)(location.X + 0.25), (float)(location.Y - 0.25));
PointF p3 = new PointF((float)(location.X), (float)(location.Y + 0.25));
GLUtility.FillTriangle(color, p1, p2, p3);
}
else if (type.Equals("spiral"))
{
double size = 0.8;
GLPen spiralPen = new GLPen(color, 3f);
GLUtility.DrawCircle(spiralPen, location, (float)(size / 2));
GLUtility.DrawCircle(spiralPen, location, (float)(size * 3 / 8));
GLUtility.DrawCircle(spiralPen, location, (float)(size / 4));
GLUtility.DrawCircle(spiralPen, location, (float)(size * 1 / 8));
}
else if (type.Equals("important"))
{
GLUtility.DrawLine(new GLPen(color, 3f), new Vector2(location.X, location.Y + 0.15), new Vector2(location.X, location.Y - .05));
//GLUtility.DrawCross(new GLPen(color, 3f), new Vector2(location.X, location.Y - .12), .1f);
GLUtility.DrawCircle(new GLPen(color, 2f), new Vector2(location.X, location.Y - .12), .02f);
GLUtility.DrawDiamond(new GLPen(color, 3f), new Vector2((double)location.X, (double)location.Y), .6f);
GLUtility.DrawDiamond(new GLPen(Color.Red, 3f), new Vector2((double)location.X, (double)location.Y), .8f);
}
else if (type.Equals("x"))
{
GLUtility.DrawLine(new GLPen(color, 3f), new Vector2((double)location.X - .2, (double)location.Y + .2), new Vector2((double)location.X + .2, (double)location.Y - .2));
GLUtility.DrawLine(new GLPen(color, 3f), new Vector2((double)location.X + .2, (double)location.Y + .2), new Vector2((double)location.X - .2, (double)location.Y - .2));
}
else if (type.Equals("empty circle"))
{
PointF upperLeft = new PointF((float)(location.X - 0.25), (float)(location.Y - .25));
RectangleF rect = new RectangleF(upperLeft, new SizeF(.5f, .5f));
GLUtility.DrawEllipse(new GLPen(color, 3f), rect);
}
else if (type.Equals("arrow"))
{
Vector2 arrowHead = new Vector2(location.X + 0.7 * Math.Cos(angle), location.Y + 0.7 * Math.Sin(angle));
PointF upperLeft = new PointF((float)(location.X - 0.1), (float)(location.Y - .1));
RectangleF rect = new RectangleF(upperLeft, new SizeF(.2f, .2f));
GLUtility.FillEllipse(color, rect);
GLUtility.DrawLine(new GLPen(color, 3f), new Vector2(location.X, location.Y), arrowHead);
}
//else if(type.Equals("triangle"))//man
//{
// //head
// PointF upperLeftHead = new PointF((float)(location.X - 0.25), (float)(location.Y + .25));
// RectangleF rect = new RectangleF(upperLeftHead, new SizeF(.5f, .5f));
// GLUtility.DrawEllipse(new GLPen(color, 3f), rect);
// //body
// GLUtility.DrawLine(new GLPen(color, 3f), new Vector2(location.X, location.Y-.25), new Vector2(location.X,location.Y+.25));
// //arms
// GLUtility.DrawLine(new GLPen(color, 3f), new Vector2(location.X, location.Y), new Vector2(location.X+.3,location.Y));
// GLUtility.DrawLine(new GLPen(color, 3f), new Vector2(location.X, location.Y), new Vector2(location.X-.3,location.Y));
// //legs
// GLUtility.DrawLine(new GLPen(color, 3f), new Vector2(location.X, location.Y-.25), new Vector2(location.X+.25,location.Y-.5));
// GLUtility.DrawLine(new GLPen(color, 3f), new Vector2(location.X, location.Y-.25), new Vector2(location.X-.25,location.Y-.5));
//}
else if (type.Equals("polygon"))
{
double maxx = -1.0 / zero;
double maxy = -1.0 / zero;
double minx = 1.0 / zero;
double miny = 1.0 / zero;
if (polygonPoints.Count == 0)
{
polygonPoints.Add(new PointF((float)(location.X - 1), (float)(location.Y + 1)));
polygonPoints.Add(new PointF((float)(location.X - 1), (float)(location.Y - 1)));
polygonPoints.Add(new PointF((float)(location.X + 2), (float)(location.Y - 2)));
polygonPoints.Add(new PointF((float)(location.X + 3), (float)(location.Y)));
polygonPoints.Add(new PointF((float)(location.X + 1), (float)(location.Y + 2)));
polygonPoints.Add(new PointF((float)(location.X - 1), (float)(location.Y + 1)));
}
for (int i = 0; i < polygonPoints.Count - 1; i++)
{
if (polygonPoints[i].X > maxx)
{
maxx = polygonPoints[i].X;
}
if (polygonPoints[i].Y > maxy)
{
maxy = polygonPoints[i].Y;
}
if (polygonPoints[i].X < minx)
{
minx = polygonPoints[i].X;
}
if (polygonPoints[i].Y < miny)
{
miny = polygonPoints[i].Y;
}
this.location = new PointF((float)(0.5 * (maxx + minx)), (float)(0.5 * (maxy + miny)));
GLUtility.DrawLine(new GLPen(color, 3), polygonPoints[i], polygonPoints[i + 1]);
}
}
else if (type.Equals("fill polygon"))
{
double maxx = -1.0 / zero;
double maxy = -1.0 / zero;
double minx = 1.0 / zero;
double miny = 1.0 / zero;
if (polygonPoints.Count == 0)
{
polygonPoints.Add(new PointF((float)(location.X - 1), (float)(location.Y + 1)));
polygonPoints.Add(new PointF((float)(location.X - 1), (float)(location.Y - 1)));
polygonPoints.Add(new PointF((float)(location.X + 2), (float)(location.Y - 2)));
polygonPoints.Add(new PointF((float)(location.X + 3), (float)(location.Y)));
polygonPoints.Add(new PointF((float)(location.X + 1), (float)(location.Y + 2)));
polygonPoints.Add(new PointF((float)(location.X - 1), (float)(location.Y + 1)));
}
for (int i = 0; i < polygonPoints.Count - 1; i++)
{
if (polygonPoints[i].X > maxx)
{
maxx = polygonPoints[i].X;
}
if (polygonPoints[i].Y > maxy)
{
maxy = polygonPoints[i].Y;
}
if (polygonPoints[i].X < minx)
{
minx = polygonPoints[i].X;
}
if (polygonPoints[i].Y < miny)
{
miny = polygonPoints[i].Y;
}
this.location = new PointF((float)(0.5 * (maxx + minx)), (float)(0.5 * (maxy + miny)));
GLUtility.DrawLine(new GLPen(color, 3), polygonPoints[i], polygonPoints[i + 1]);
}
for (int i = 0; i < polygonPoints.Count - 1; i++)
{
GLUtility.FillTriangle(color, 0.3f, polygonPoints[i], polygonPoints[i + 1], new PointF((float)(0.5 * (maxx + minx)), (float)(0.5 * (maxy + miny))));
}
}
else
{
}
//GLUtility.DrawString(name,Color.Black, location);
}
public void Draw(Renderer r)
{
if (options.Show == false)
{
return;
}
if (scan == null)
{
return; //nothing to do
}
GLUtility.DisableNiceLines();
GLUtility.GoToSensorPose(laserToBody);
lock (this.drawLock)
{
//foreach (ILidar2DPoint sp in scan.Points)
for (int i = startIdx; i <= endIdx; i++)
{
PointF p = PointF.Empty;
ILidar2DPoint sp = scan.Points[i];
if (options.IsUpsideDown)
{
p = new PointF((float)(sp.RThetaPoint.R * Math.Cos(-sp.RThetaPoint.theta + robotPose.yaw) + robotPose.x), (float)(sp.RThetaPoint.R * Math.Sin(-sp.RThetaPoint.theta + robotPose.yaw) + robotPose.y));
}
else
{
p = new PointF((float)(sp.RThetaPoint.R * Math.Cos(sp.RThetaPoint.theta + robotPose.yaw) + robotPose.x), (float)(sp.RThetaPoint.R * Math.Sin(sp.RThetaPoint.theta + robotPose.yaw) + robotPose.y));
}
GLUtility.DrawCross(new GLPen(options.RenderColor, 1), Vector2.FromPointF(p), .1f);
if (options.ShowIndex)
{
GLUtility.DrawString("Index: " + i, Color.Black, p);
}
}
}
if (options.ShowTS)
{
GLUtility.DrawString("Time: " + scan.Timestamp.ToString(), Color.Black, new PointF(0, 0));
}
if (options.ShowOrigin)
{
GLUtility.DrawCircle(new GLPen(Color.Red, 1), new PointF(0, 0), .075f);
}
if (options.ShowBoundary)
{
PointF p = PointF.Empty, p2 = PointF.Empty;
PointF pose = PointF.Empty;
ILidar2DPoint spInitial = scan.Points[0];
ILidar2DPoint spEnd = scan.Points[scan.Points.Count - 1];
if (options.IsUpsideDown)
{
p = new PointF((float)(spInitial.RThetaPoint.R * Math.Cos(-spInitial.RThetaPoint.theta + robotPose.yaw) + robotPose.x), (float)(spInitial.RThetaPoint.R * Math.Sin(-spInitial.RThetaPoint.theta + robotPose.yaw) + robotPose.y));
p2 = new PointF((float)(spEnd.RThetaPoint.R * Math.Cos(-spEnd.RThetaPoint.theta + robotPose.yaw) + robotPose.x), (float)(spEnd.RThetaPoint.R * Math.Sin(-spEnd.RThetaPoint.theta + robotPose.yaw) + robotPose.y));
}
else
{
p = new PointF((float)(spInitial.RThetaPoint.R * Math.Cos(spInitial.RThetaPoint.theta + robotPose.yaw) + robotPose.x), (float)(spInitial.RThetaPoint.R * Math.Sin(spInitial.RThetaPoint.theta + robotPose.yaw) + robotPose.y));
p2 = new PointF((float)(spEnd.RThetaPoint.R * Math.Cos(spEnd.RThetaPoint.theta + robotPose.yaw) + robotPose.x), (float)(spEnd.RThetaPoint.R * Math.Sin(spEnd.RThetaPoint.theta + robotPose.yaw) + robotPose.y));
}
pose.X = (float)robotPose.x; pose.Y = (float)robotPose.y;
GLUtility.DrawLine(new GLPen(options.BoundaryColor, options.BoundaryWidth), p, pose);
GLUtility.DrawLine(new GLPen(options.BoundaryColor, options.BoundaryWidth), p2, pose);
}
GLUtility.ComeBackFromSensorPose();
GLUtility.EnableNiceLines();
}
/// <summary>
/// Draw the waypoints & path (circles & lines)
/// </summary>
/// <param name="r"></param>
#region path drawing code
public void Draw(Renderer r)
{
//if only one waypoint, draw the waypoint
if (newPath.WaypointList.Count == 1 && shouldDraw)
{
WaypointRenderer wpFirst = newPath.WaypointList[0];
PointF drawPoint = new PointF((float)wpFirst.X, (float)wpFirst.Y);
GLUtility.DrawCircle(new GLPen(wpFirst.Color, 1.0f), drawPoint, 0.2f);
if (!shouldMove && tempActive)
{
GLUtility.DrawLine(new GLPen(Color.LawnGreen, 1.0f), drawPoint, r.ScreenToWorld(mousePoint));
}
}
// if more than one waypoint, draw waypoints and connect subsequent waypoints with a line
else if (newPath.WaypointList.Count > 1 && shouldDraw)
{
WaypointRenderer wpLast = newPath.WaypointList.First();
foreach (WaypointRenderer wp in newPath.WaypointList)
{
PointF pathPoint = new PointF((float)wp.X, (float)wp.Y);
if (shouldMove && wp.Equals(movePointWP))
{
GLUtility.DrawCircle(new GLPen(Color.Red, 1.0f), pathPoint, 0.2f);
}
else
{
GLUtility.DrawCircle(new GLPen(wp.Color, 1.0f), pathPoint, 0.2f);
}
if (!wp.Equals(newPath.WaypointList.First()))
{
PointF dummyLast = new PointF((float)wpLast.X, (float)wpLast.Y);
GLUtility.DrawLine(new GLPen(newPath.Color, 1.0f), dummyLast, pathPoint);
}
wpLast = wp;
}
// if we are not moving a waypoint, draw a light green line between last waypoint and current mouse location
if (!shouldMove && tempActive)
{
PointF dummyLast = new PointF((float)wpLast.X, (float)wpLast.Y);
GLUtility.DrawLine(new GLPen(Color.LawnGreen, 1.0f), dummyLast, r.ScreenToWorld(mousePoint));
}
}
if (newPath.WaypointList.Count > 0)
{
foreach (ISelectable selectable in r.Selectables)
{
PointF dummyFirst = new PointF();
RobotRenderer robot = selectable as RobotRenderer;
if (robot == null)
{
continue;
}
else if (robot.IsSelected)
{
Polygon p = robot.GetBoundingPolygon();
if (p.points.Count > 0)
{
dummyFirst = new PointF((float)newPath.WaypointList[0].X, (float)newPath.WaypointList[0].Y);
GLUtility.DrawLine(new GLPen(Color.Green, 1.0f), p.Center.ToPointF(), dummyFirst);
}
}
}
}
}
/// <summary>
/// Drawing code
/// </summary>
/// <param name="r"></param>
public void Draw(Renderer r)
{
if (pointList.Count == 0)
{
UpdatePointList();
}
if ((gestureName == "CIRCLE") || (gestureName == "SQUARE") || (gestureName == "TRIANGLE"))
{
//DrawToolOld.ResetRefPoints();
ctrPtWorld = r.ScreenToWorld(pointList.ElementAt(0));
GLUtility.DrawCircle(new GLPen(Color.Blue, 0.2f), ctrPtWorld, 0.3f);
}
else if (gestureName == "X")
{
//DrawToolOld.ResetRefPoints();
ctrPtWorld = r.ScreenToWorld(pointList.ElementAt(0));
GLUtility.DrawCross(new GLPen(Color.Red, 0.2f), new Vector2(ctrPtWorld.X, ctrPtWorld.Y), 0.5f);
}
else if ((gestureName == "ARROW") || (gestureName == "PATH") || (gestureName == "SENTENCE"))
{
//DrawToolOld.ResetRefPoints();
pthStartWorld = r.ScreenToWorld(pointList.ElementAt(0));
pthEndWorld = r.ScreenToWorld(pointList.ElementAt(1));
GLUtility.DrawCircle(new GLPen(Color.Blue, 0.2f), pthStartWorld, 0.3f);
GLUtility.DrawCross(new GLPen(Color.Red, 0.2f), new Vector2(pthEndWorld.X, pthEndWorld.Y), 0.5f);
}
else
{
//DrawToolOld.ResetRefPoints();
}
if ((gestureName == "PATH") || (gestureName == "SENTENCE"))
{
//DrawToolOld.ResetRefPoints();
ln1StartWorld = r.ScreenToWorld(pointList.ElementAt(2));
ln1EndWorld = r.ScreenToWorld(pointList.ElementAt(3));
ln2StartWorld = r.ScreenToWorld(pointList.ElementAt(4));
ln2EndWorld = r.ScreenToWorld(pointList.ElementAt(5));
ln3StartWorld = r.ScreenToWorld(pointList.ElementAt(6));
ln3EndWorld = r.ScreenToWorld(pointList.ElementAt(7));
GLUtility.DrawLine(new GLPen(Color.Black, 1.0f), ln1StartWorld, ln1EndWorld);
GLUtility.DrawLine(new GLPen(Color.Black, 1.0f), ln2StartWorld, ln2EndWorld);
GLUtility.DrawLine(new GLPen(Color.Black, 1.0f), ln3StartWorld, ln3EndWorld);
}
// draw pixels
if (pixelList.Count > 0)
{
foreach (PointF v3 in drawPixelList)
{
drawPixel.X = ((float)v3.X - (w / 2));
drawPixel.Y = ((float)v3.Y - (h / 2));
drawPixel2.X = ((float)v3.X - (w / 4));
drawPixel2.Y = ((float)v3.Y - (h / 4));
float scale = r.Scale();
pixelRect = new RectangleF((float)drawPixel.X, (float)drawPixel.Y, w, h);
RectangleF pixelRect2 = new RectangleF((float)drawPixel2.X, (float)drawPixel2.Y, w / 2, h / 2);
GLUtility.DrawRectangle(new GLPen(Color.Black, 0.1f), pixelRect);
GLUtility.DrawRectangle(new GLPen(Color.Black, 0.1f), pixelRect2);
}
}
}
public void Draw(Renderer cam)
{
GLUtility.DrawCircle(new GLPen(Color.Red, 1.0f), new Vector2(0, 0), .5f);
}
public void EnableMode(string modeName)
{
modeNewPDF = false;
modeDeletePDF = false;
modeEditPDF = false;
modeMovePDF = false;
if (modeName.Equals("Add new PDF peak"))
{
tempActive = true;
modeNewPDF = true;
currentCursor = Cursors.Cross;
firstpointmode = true;
secondpointmode = false;
thirdpointmode = false;
quickPointMode = false;
}
else if (modeName.Equals("Add quick PDF peaks"))
{
quickPointMode = true;
tempActive = true;
modeNewPDF = true;
currentCursor = Cursors.Cross;
//firstpointmode = true;
//secondpointmode = false;
//thirdpointmode = false;
}
else if (modeName.Equals("Remove PDF peak"))
{
tempActive = true;
modeDeletePDF = true;
currentCursor = Cursors.NoMove2D;
isGenerating = false;
firstpointmode = false;
secondpointmode = false;
thirdpointmode = false;
while ((PDFrenderer.PDFReferencePointList.Count % 3 != 0) & PDFrenderer.PDFReferencePointList.Count > 0)
{
PDFrenderer.PDFReferencePointList.Remove(PDFrenderer.PDFReferencePointList[PDFrenderer.PDFReferencePointList.Count - 1]);
}
//defaultMode = "Add new PDF peak";
//UpdateDefault(this, new EventArgs());
}
else if (modeName.Equals("Edit PDF points"))
{
tempActive = true;
modeEditPDF = true;
modeNewPDF = false;
isGenerating = false;
firstpointmode = false;
secondpointmode = false;
thirdpointmode = false;
while ((PDFrenderer.PDFReferencePointList.Count % 3 != 0) & PDFrenderer.PDFReferencePointList.Count > 0)
{
PDFrenderer.PDFReferencePointList.Remove(PDFrenderer.PDFReferencePointList[PDFrenderer.PDFReferencePointList.Count - 1]);
}
currentCursor = Cursors.Cross;
}
else if (modeName.Equals("Move PDF peak"))
{
tempActive = true;
modeEditPDF = false;
modeNewPDF = false;
modeMovePDF = true;
isGenerating = false;
firstpointmode = false;
secondpointmode = false;
thirdpointmode = false;
while ((PDFrenderer.PDFReferencePointList.Count % 3 != 0) & PDFrenderer.PDFReferencePointList.Count > 0)
{
PDFrenderer.PDFReferencePointList.Remove(PDFrenderer.PDFReferencePointList[PDFrenderer.PDFReferencePointList.Count - 1]);
}
currentCursor = Cursors.Cross;
}
else if (modeName.Equals("Send PDF peak"))
{
Vector2 prevRP1 = new Vector2();
Vector2 prevRP2 = new Vector2();
Vector2 prevRP3 = new Vector2();
double i = new double();
modeNewPDF = true;
List <HRIPDF> list = new List <HRIPDF>();
foreach (PDFReferencePointRenderer rp in PDFrenderer.PDFReferencePointList)
{
Vector2 refPoint = new Vector2(rp.X, rp.Y); //third point
GLUtility.DrawCircle(new GLPen(Color.Red, 1.0f), refPoint, 0.25f);
prevRP3 = prevRP2;
prevRP2 = prevRP1; //first point
prevRP1.X = rp.X; //second point
prevRP1.Y = rp.Y;
i++;
if (i % 3 == 0 & i > 0)
{
Vector2 RPfirst = prevRP3;
Vector2 RPsecond = prevRP2;
Vector2 RPthird = prevRP1;
Vector2 midpoint = new Vector2(RPfirst.X + (RPsecond.X - RPfirst.X) / 2, RPfirst.Y + (RPsecond.Y - RPfirst.Y) / 2);
double sigmaLength = midpoint.DistanceTo(RPsecond);
double sigmaHeight = midpoint.DistanceTo(RPthird);
Vector2 delta = new Vector2(RPsecond.X - RPfirst.X, RPsecond.Y - RPfirst.Y);
double angle = delta.ToRadians();
sigma = new Matrix2(sigmaLength * Math.Cos(angle) / sigBound, -sigmaLength * Math.Sin(angle) / sigBound, sigmaHeight * Math.Sin(angle) / sigBound, sigmaHeight * Math.Cos(angle) / sigBound);
Console.WriteLine(sigmaLength + "," + sigmaHeight);
Console.WriteLine(sigmaLength * Math.Cos(angle) / sigBound + "," + -sigmaLength * Math.Sin(angle) / sigBound + "," + sigmaHeight * Math.Sin(angle) / sigBound + "," + sigmaHeight * Math.Cos(angle) / sigBound);
list.Add(new HRIPDF(mu, sigma));
}
}
ToolCompleted(this, new PDFToolCompletedEventArgs(list));
isGenerating = false;
PDFrenderer = new PDFFormRenderer();
modeList.Remove("Remove PDF peak");
modeList.Remove("Edit PDF points");
modeList.Remove("Send PDF peak");
modeList.Remove("Move PDF peak");
defaultMode = "Add new PDF peak";
modeNewPDF = true;
firstpointmode = true;
secondpointmode = false;
thirdpointmode = false;
UpdateDefault(this, new EventArgs());
isDrawing = false;
}
UpdateDefault(this, new EventArgs());
}
