public static void DisplayLoop()
{
Stopwatch sw = Stopwatch.StartNew();
while (!_linkDisplay.Cancelled)
{
_linkDisplay.LoopsCount++;
// Limitation à 20FPS
long sleep = 50 - sw.ElapsedMilliseconds - 1;
if (sleep > 0)
{
Thread.Sleep((int)sleep);
}
sw.Restart();
try
{
Bitmap bmp;
if (AfficheTable)
{
bmp = new Bitmap(Properties.Resources.TablePlan);
}
else
{
bmp = new Bitmap(Properties.Resources.TablePlan.Width, Properties.Resources.TablePlan.Height);
}
{
Graphics g = Graphics.FromImage(bmp);
g.SmoothingMode = SmoothingMode.AntiAlias;
g.SetClip(Scale.RealToScreenRect(new RectangleF(0, 0, 3000, 2000)));
g.DrawEllipse(Pens.DimGray, Scale.RealToScreenRect(new RectangleF(1000, -500, 1000, 1000)));
g.ResetClip();
if (AfficheGraph || AfficheGraphArretes)
{
DessineGraph(Robots.MainRobot, g, AfficheGraph, AfficheGraphArretes);
}
if (AfficheHistoriqueCoordonnees && Robots.MainRobot.PositionsHistorical != null)
{
DessineHistoriqueTrajectoire(Robots.MainRobot, g);
}
if (AfficheObstacles)
{
DessineObstacles(g, Robots.MainRobot);
}
if (true)
{
DrawOpponents(g, GameBoard.ObstaclesOpponents);
}
if (AfficheElementsJeu)
{
DessineElementsJeu(g, GameBoard.Elements);
}
if (Robots.MainRobot != null)
{
DessineRobot(Robots.MainRobot, g);
}
DessinePathFinding(g);
DessinePositionEnnemis(g);
DessineDetections(g);
Robots.MainRobot.PositionTarget?.Paint(g, Color.Red, 5, Color.Red, Scale);
if (AfficheCoutsMouvements)
{
if (GameBoard.Strategy != null && GameBoard.Strategy.Movements != null)
{
GameBoard.Strategy.Movements.ForEach(mouv => mouv.DisplayCostFactor = GameBoard.Strategy.Movements.Min(m => m.GlobalCost));
GameBoard.Strategy.Movements.ForEach(mouv => mouv.Paint(g, Scale));
}
}
if ((modeCourant == MouseMode.PositionCentre || modeCourant == MouseMode.TeleportCentre) && positionDepart != null)
{
Point positionFin = positionCurseur;
Bitmap bmpGrosRobot = new Bitmap(Scale.RealToScreenDistance(Robots.MainRobot.Diameter * 3), Scale.RealToScreenDistance(Robots.MainRobot.Diameter * 3));
Graphics gGros = Graphics.FromImage(bmpGrosRobot);
gGros.Clear(Color.Transparent);
Direction traj = Maths.GetDirection(positionDepart, PositionCurseurTable);
Rectangle r = new Rectangle(bmpGrosRobot.Width / 2 - Scale.RealToScreenDistance(Robots.MainRobot.Width / 2),
bmpGrosRobot.Height / 2 - Scale.RealToScreenDistance(Robots.MainRobot.LenghtFront),
Scale.RealToScreenDistance(Robots.MainRobot.Width),
Scale.RealToScreenDistance(Robots.MainRobot.LenghtTotal));
gGros.FillRectangle(brushNoirTresTransparent, r);
gGros.DrawRectangle(GameBoard.MyColor == GameBoard.ColorLeftBlue ? penCouleurGauche : penCouleurDroite, r);
gGros.DrawLine(GameBoard.MyColor == GameBoard.ColorLeftBlue ? penCouleurGauche : penCouleurDroite, bmpGrosRobot.Width / 2, bmpGrosRobot.Height / 2, bmpGrosRobot.Width / 2, bmpGrosRobot.Height / 2 - Scale.RealToScreenDistance(Robots.MainRobot.LenghtFront));
Point pointOrigine = Scale.RealToScreenPosition(positionDepart);
g.DrawImage(RotateImage(bmpGrosRobot, 360 - traj.angle.InDegrees + 90), pointOrigine.X - bmpGrosRobot.Width / 2, pointOrigine.Y - bmpGrosRobot.Height / 2);
g.DrawLine(penBlancFleche, (Point)Scale.RealToScreenPosition(positionDepart), positionFin);
}
else if ((modeCourant == MouseMode.PositionFace || modeCourant == MouseMode.TeleportFace) && positionDepart != null)
{
Point positionFin = positionCurseur;
Bitmap bmpGrosRobot = new Bitmap(Scale.RealToScreenDistance(Robots.MainRobot.Diameter * 3), Scale.RealToScreenDistance(Robots.MainRobot.Diameter * 3));
Graphics gGros = Graphics.FromImage(bmpGrosRobot);
gGros.Clear(Color.Transparent);
Direction traj = Maths.GetDirection(positionDepart, PositionCurseurTable);
Point pointOrigine = Scale.RealToScreenPosition(positionDepart);
Position departRecule = new Position(-traj.angle, pointOrigine);
departRecule.Move(Scale.RealToScreenDistance(-Robots.MainRobot.LenghtFront));
Rectangle r = new Rectangle(bmpGrosRobot.Width / 2 - Scale.RealToScreenDistance(Robots.MainRobot.Width / 2),
bmpGrosRobot.Height / 2 - Scale.RealToScreenDistance(Robots.MainRobot.LenghtFront),
Scale.RealToScreenDistance(Robots.MainRobot.Width),
Scale.RealToScreenDistance(Robots.MainRobot.LenghtTotal));
gGros.FillRectangle(brushNoirTresTransparent, r);
gGros.DrawRectangle(GameBoard.MyColor == GameBoard.ColorLeftBlue ? penCouleurGauche : penCouleurDroite, r);
gGros.DrawLine(GameBoard.MyColor == GameBoard.ColorLeftBlue ? penCouleurGauche : penCouleurDroite, bmpGrosRobot.Width / 2, bmpGrosRobot.Height / 2, bmpGrosRobot.Width / 2, bmpGrosRobot.Height / 2 - Scale.RealToScreenDistance(Robots.MainRobot.LenghtFront));
g.DrawImage(RotateImage(bmpGrosRobot, 360 - traj.angle.InDegrees + 90), (int)(departRecule.Coordinates.X) - bmpGrosRobot.Width / 2, (int)(departRecule.Coordinates.Y) - bmpGrosRobot.Height / 2);
g.DrawLine(penBlancFleche, (Point)Scale.RealToScreenPosition(positionDepart), positionFin);
}
if (Robots.MainRobot.TrajectoryRunning != null)
{
Trajectory traj = new Trajectory();
traj.AddPoint(Robots.MainRobot.Position.Coordinates);
for (int iPoint = 1; iPoint < Robots.MainRobot.TrajectoryRunning.Points.Count; iPoint++)
{
traj.AddPoint(Robots.MainRobot.TrajectoryRunning.Points[iPoint]);
}
traj.Paint(g, Scale);
}
// Trajectoire polaire
//if (modeCourant == Mode.TrajectoirePolaire)
{
if (trajectoirePolaireScreen != null)
{
foreach (Point p in trajectoirePolaireScreen)
{
g.FillEllipse(Brushes.Red, p.X - 1, p.Y - 1, 2, 2);
}
}
if (pointsPolaireScreen != null)
{
foreach (Point p in pointsPolaireScreen)
{
g.FillEllipse(Brushes.White, p.X - 3, p.Y - 3, 6, 6);
g.DrawEllipse(Pens.Black, p.X - 3, p.Y - 3, 6, 6);
}
}
}
TableDessinee?.Invoke(bmp);
}
}
catch (Exception ex)
{
Console.WriteLine("Erreur pendant le dessin de la table " + ex.Message);
}
}
}