public void AddNewRobot(int robotID, Renderer r)
{
Color color;
try
{
color = colors[robotID - 1];
}
catch (IndexOutOfRangeException e)
{
Random rand = new Random();
color = Color.FromArgb((int)(rand.NextDouble() * 255), (int)(rand.NextDouble() * 255), (int)(rand.NextDouble() * 255));
}
Color colorBloated;
try
{
colorBloated = colorsBloated[robotID - 1];
}
catch (IndexOutOfRangeException e)
{
Random rand = new Random();
colorBloated = Color.FromArgb((int)(rand.NextDouble() * 255), (int)(rand.NextDouble() * 255), (int)(rand.NextDouble() * 255));
}
if (robotID != 5)
{
RobotRenderer rr = new RobotRenderer("Robot " + robotID, color);
//robots[robotID] = new Robot(rr, color, robotID);
robots[robotID] = new Robot(rr, color, colorBloated, robotID);
r.AddRenderable(rr);
r.AddRenderable(robots[robotID].PathRenderer);
r.AddRenderable(robots[robotID].LidarRendererFront);
r.AddRenderable(robots[robotID].LidarRendererRear);
r.AddRenderable(robots[robotID].PolygonRenderer);
r.AddRenderable(robots[robotID].BloatedPolygonRenderer);
r.UpdateRobotPose(robotID, new Magic.Common.RobotPose());
}
}
public PathFromRobotRenderer(RobotRenderer rr)
{
renderer = rr;
color = Color.Salmon;
}
public PathFromRobotRenderer(RobotRenderer rr, Color c)
{
renderer = rr;
color = c;
}
public PathFromRobotRenderer(RobotRenderer rr, Color c, float nodeWidth)
: this(rr, c)
{
this.nodeWidth = nodeWidth;
}
public Robot(RobotRenderer r, Color color, Color colorBloated, int id)
{
renderer = r;
pathRenderer = new PathFromRobotRenderer(r, color, .1f);
lidarRendererRear = new LidarRenderer("rear", 0, id, new SensorPose(-.36, 0, 0, Math.PI, 0, 0, 0));
lidarRendererFront = new LidarRenderer("front", 1, id, new SensorPose(0, 0, .20, 0, 0, 0, 0));
polyRenderer = new PolygonRenderer(color);
bloatedPolygonRenderer = new PolygonRenderer(colorBloated);
}
public PathFromRobotRenderer(RobotRenderer rr)
{
renderer = rr;
color = Color.Salmon;
}
public PathFromRobotRenderer(RobotRenderer rr, Color c)
{
renderer = rr;
color = c;
}
public PathFromRobotRenderer(RobotRenderer rr, Color c, float nodeWidth)
: this(rr, c)
{
this.nodeWidth = nodeWidth;
}