public void Draw(Renderer cam)
{
if (mean != null && covariance != null)
{
List <List <Vector2> > meanCpy = new List <List <Vector2> >(mean);
foreach (List <Vector2> list in meanCpy)
{
if (drawMean)
{
for (float i = width; i >= 0; i -= 0.1f)
{
GLUtility.DrawDiamond(new GLPen(meanColor, penThickness), list[0], i);
}
}
if (drawCov)
{
try
{
GLUtility.DrawLineLoop(new GLPen(covColor, penThickness), covariance[meanCpy.IndexOf(list)].ToArray());
}
catch
{ }
}
}
}
}
public void Draw(Renderer cam)
{
Vector2 bodyPnt = new Vector2(pose.x, pose.y);
Vector2 bodyHeading = new Vector2(bodyPnt.X + Math.Cos(pose.yaw), bodyPnt.Y + Math.Sin(pose.yaw));
GLUtility.DrawLineLoop(new GLPen(color, drawLineWidth), bodyPlygn.ToArray());
// Draw heading
GLUtility.DrawLine(new GLPen(Color.Red, drawLineWidth), bodyPnt, bodyHeading);
// Draw the name
GLUtility.DrawString(name, Color.Black, new PointF((float)bodyPnt.X, (float)bodyPnt.Y));
}
public void Draw(Renderer r)
{
float lineWidth = selected ? 2.0f : 1.0f;
PointF bodyPnt = new PointF(x, y);
PointF bodyHeading = new PointF(bodyPnt.X + (float)Math.Cos(heading), bodyPnt.Y + (float)Math.Sin(heading));
GLUtility.DrawLineLoop(new GLPen(color, lineWidth), bodyPlygn.ToArray());
GLUtility.FillTriangle(color, 0.6f, bodyPlygn[0].ToPointF(), bodyPlygn[1].ToPointF(), bodyPlygn[2].ToPointF());
GLUtility.FillTriangle(color, 0.6f, bodyPlygn[2].ToPointF(), bodyPlygn[3].ToPointF(), bodyPlygn[0].ToPointF());
// Draw heading
//GLUtility.DrawLine(new GLPen(Color.Red, lineWidth), Vector2.FromPointF(bodyPnt), Vector2.FromPointF(bodyHeading));
GLUtility.DrawLine(new GLPen(Color.Red, lineWidth), bodyPnt, bodyHeading);
//// Draw the name
//if (modeString.Equals(""))
// GLUtility.DrawString(MythName + ": " + name, Color.Black, bodyPnt);
//else if (modeQualifier.Equals(""))
// GLUtility.DrawString(name + ": " + modeString, Color.Black, bodyPnt);
//else// if (defaultRenderer != null)
//{
// try
// {
// GLUtility.DrawStringMultiLine(name + ": " + modeString + '\n' + "NOTE: " + modeQualifier, Color.Black, bodyPnt, r.CurrentCamera);
// }
// catch { GLUtility.DrawString(name + ": " + modeString, Color.Black, bodyPnt); }
//}//else
//// GLUtility.DrawString(name + ": " + modeString + "(NOTE: " + modeQualifier + ")", Color.Black, bodyPnt);
GLUtility.DrawString(name, Color.Black, bodyPnt);
DrawFlagLine(x, y, color);
if (drawCameraView && IsSelected)
{
PointF p1 = bodyPnt;
PointF p2 = new PointF(bodyPnt.X + 5 * (float)Math.Cos(heading - 0.5 * (cameraFOVangle * Math.PI / 180)), bodyPnt.Y + 5 * (float)Math.Sin(heading - 0.5 * (cameraFOVangle * Math.PI / 180)));
PointF p3 = new PointF(bodyPnt.X + 5 * (float)Math.Cos(heading - 0.167 * (cameraFOVangle * Math.PI / 180)), bodyPnt.Y + 5 * (float)Math.Sin(heading - 0.167 * (cameraFOVangle * Math.PI / 180)));
PointF p4 = new PointF(bodyPnt.X + 5 * (float)Math.Cos(heading + 0.167 * (cameraFOVangle * Math.PI / 180)), bodyPnt.Y + 5 * (float)Math.Sin(heading + 0.167 * (cameraFOVangle * Math.PI / 180)));
PointF p5 = new PointF(bodyPnt.X + 5 * (float)Math.Cos(heading + 0.5 * (cameraFOVangle * Math.PI / 180)), bodyPnt.Y + 5 * (float)Math.Sin(heading + 0.5 * (cameraFOVangle * Math.PI / 180)));
GLUtility.FillTriangle(color, 0.1f, p1, p2, p3);
GLUtility.FillTriangle(color, 0.1f, p1, p3, p4);
GLUtility.FillTriangle(color, 0.1f, p1, p4, p5);
//GLUtility.FillTriangle(Color.BlueViolet, 0.3f, p1, p2, p3);
//GLUtility.FillTriangle(Color.Blue, 0.3f, p1, p3, p4);
//GLUtility.FillTriangle(Color.Turquoise, 0.3f, p1, p4, p5);
}
}
public void Draw(Renderer cam)
{
lock (polygonListLock)
{
foreach (Polygon eachPolygon in polygonsToDraw)
{
//eachPolygon.Add(eachPolygon[0]);
GLUtility.DrawLineLoop(new GLPen(c, 1.0f), eachPolygon.ToArray());
//GLUtility.DrawLines(new GLPen(c[i++ & 100], 1.0f), eachPolygon.ToArray());
//int j = 0;
//foreach (Vector2 v in eachPolygon.ToArray())
//{
// GLUtility.DrawString(i + ":" + j, Color.Black, v.ToPointF());
// j++;
//}
//i++;
//foreach (Vector2 eachVector in eachPolygon)
// GLUtility.DrawCross(new GLPen(Color.Blue, 1.0f), eachVector, 1.0f);
}
}
}
public void Draw(Renderer cam)
{
GLUtility.DrawLineLoop(new GLPen(Color, selected ? 2.0f : 1.0f), Polygon.ToArray());
}
