private void mapViewPanel_Paint(object sender, PaintEventArgs e)
{
if (human != null)
{
int humanPathLength = human.path.Length;
if (humanPathLength > 0)
{
HexSet humanHexSet = map.MapState.GetHexSet(human.hexSetIdx);
for (int i = 0; i < humanPathLength; i++)
{
HexaPos pos = human.path[i];
humanHexSet.hexSet.Add(map.GetHex(pos.X, pos.Y));
}
}
else
{
if (map.MapState.GetHexSetNum() > 0)
{
HexSet humanHexSet = map.MapState.GetHexSet(human.hexSetIdx);
humanHexSet.hexSet.Clear();
}
}
}
if (mapVisible == true)
{
if (mapDrawer != null)
{
mapDrawer.Draw(e.Graphics);
}
}
}
private void SimTestForm_MouseClick(object sender, MouseEventArgs e)
{
if (e.Button == MouseButtons.Right)
{
Point mouseClick = new Point(e.X - _mapDrawer.BoardXOffset, e.Y - _mapDrawer.BoardYOffset);
Hex clickedHex = _map.FindHexMouseClick(mouseClick);
//_map.MapState.ActiveHex = clickedHex;
if (clickedHex != null)
{
if (_human.path.Length == 0)
{
_human.hexSetIdx = _map.MapState.CreateHexSet();
}
_human.path.AddPos(new HexaPos(clickedHex.posX, clickedHex.posY));
HexSet hexSet = _map.MapState.GetHexSet(_human.hexSetIdx);
hexSet.borderColor = Color.Blue;
hexSet.hexSet.Add(clickedHex);
}
}
else
{
_map.MapState.ActiveHex = null;
}
Refresh();
}
private void MapForm_MouseClick(object sender, MouseEventArgs e)
{
if (e.Button == MouseButtons.Left)
{
if (_formState == FormState.ADD_HUMAN_INIT)
{
Point mouseClick = new Point(e.X - _mapDrawer.BoardXOffset, e.Y - _mapDrawer.BoardYOffset);
Hex clickedHex = _map.FindHexMouseClick(mouseClick);
if (false == _map.MapState.IsObstacle(clickedHex))
{
_human.SetInitPos(new HexaPos(clickedHex.posX, clickedHex.posY));
_formState = FormState.GENERATING_HUMANPATH;
_map.MapState.ActiveHex = clickedHex;
_human.hexSetIdx = _map.MapState.CreateHexSet();
HexSet hexSet = _map.MapState.GetHexSet(_human.hexSetIdx);
hexSet.borderColor = Color.Blue;
}
}
else if (_formState == FormState.EDIT_OBSTACLE)
{
Point mouseClick = new Point(e.X - _mapDrawer.BoardXOffset, e.Y - _mapDrawer.BoardYOffset);
Hex clickedHex = _map.FindHexMouseClick(mouseClick);
_map.MapState.AddObstalce(clickedHex);
}
}
Refresh();
}
private void btnClear_Click(object sender, EventArgs e)
{
HexSet hexSet = _map.MapState.GetHexSet(_human.hexSetIdx);
if (hexSet != null)
{
hexSet.Clear();
}
_human.path.Clear();
Refresh();
}
private void mapViewPanel_MouseClick(object sender, MouseEventArgs e)
{
if (e.Button == MouseButtons.Right)
{
if (this.appMode == MapViewForm.AppMode.PLANNING)
{
if (this.planMode == MapViewForm.PathPlanMode.MIN_DIST)
{
// pop to choose "complete" or "cancel"
this.cmsAddPoint.Show(this.Left + e.X, this.Top + e.Y);
this.currentCursorX = e.X;
this.currentCursorY = e.Y;
}
else
{
Point mouseClick = new Point(e.X - mapDrawer.BoardXOffset, e.Y - mapDrawer.BoardYOffset);
Hex clickedHex = map.FindHexMouseClick(mouseClick);
this.startHex = clickedHex;
map.MapState.ActiveHex = clickedHex;
Refresh();
}
}
else if (this.appMode == MapViewForm.AppMode.ADD_HUMAN)
{
Point mouseClick = new Point(e.X - mapDrawer.BoardXOffset, e.Y - mapDrawer.BoardYOffset);
Hex clickedHex = map.FindHexMouseClick(mouseClick);
human = new Human(map);
human.SetInitPos(new HexaPos(clickedHex.posX, clickedHex.posY));
human.hexSetIdx = map.MapState.CreateHexSet();
HexSet hexSet = map.MapState.GetHexSet(human.hexSetIdx);
hexSet.borderColor = Color.Black;
}
}
Refresh();
}
private void MapForm_Paint(object sender, PaintEventArgs e)
{
this.btnAnimation.Text = "Show Search Space";
this.btnHumanPath.Text = "Generate Human Path";
this.btnObstacle.Text = "Edit Obstacles";
this.btnRobotPath.Enabled = false;
this.btnHumanPath.Enabled = true;
this.btnAnimation.Enabled = true;
this.btnClearObstacle.Enabled = false;
this.HCtrl.Enabled = false;
switch (_formState)
{
case FormState.IDLE:
default:
break;
case FormState.EDIT_OBSTACLE:
this.btnObstacle.Enabled = true;
this.btnObstacle.Text = "Finish Editing Obstacles";
this.btnClearObstacle.Enabled = true;
this.btnHumanPath.Enabled = false;
this.btnAnimation.Enabled = false;
this.btnRobotPath.Enabled = false;
break;
case FormState.ADD_HUMAN_INIT:
this.btnRobotPath.Enabled = false;
this.btnHumanPath.Text = "Finish Human Path";
this.btnAnimation.Enabled = false;
break;
case FormState.GENERATING_HUMANPATH:
this.btnRobotPath.Enabled = false;
this.btnHumanPath.Text = "Finish Human Path";
this.btnAnimation.Enabled = false;
this.HCtrl.Enabled = true;
break;
case FormState.HUMANPATH_GENERATED:
this.btnRobotPath.Enabled = true;
break;
case FormState.SHOWING_SEARCHSPACE:
this.btnAnimation.Text = "Quit";
break;
}
//update textbox
if (_human != null)
{
int humanPathLength = _human.path.Length;
if (humanPathLength > 0)
{
HexSet humanHexSet = _map.MapState.GetHexSet(_human.hexSetIdx);
this.tbHumanPath.Clear();
for (int i = 0; i < humanPathLength; i++)
{
HexaPos pos = _human.path[i];
string posInfo = i.ToString() + " : " + pos.X.ToString() + " , " + pos.Y.ToString() + "\n";
this.tbHumanPath.AppendText(posInfo);
humanHexSet.hexSet.Add(_map.GetHex(pos.X, pos.Y));
}
}
else
{
this.tbHumanPath.Clear();
if (_map.MapState.GetHexSetNum() > 0)
{
HexSet humanHexSet = _map.MapState.GetHexSet(_human.hexSetIdx);
humanHexSet.hexSet.Clear();
}
}
}
//Draw the graphics/GUI
foreach (Control c in this.Controls)
{
c.Refresh();
}
if (_mapDrawer != null)
{
_mapDrawer.Draw(e.Graphics);
}
//Force the next Paint()
//this.Invalidate();
}
