public void Attach(GeomPole pole, float fXOffset)
{
m_pole = pole;
m_pole.SetLocation(Location.X + fXOffset, Location.Y);
}
/// <summary>
/// Render the gyms specified data.
/// </summary>
/// <param name="bShowUi">When <i>true</i> the Bitmap is drawn.</param>
/// <param name="nWidth">Specifies the width used to size the Bitmap.</param>
/// <param name="nHeight">Specifies the height used to size the Bitmap.</param>
/// <param name="rgData">Specifies the gym data to render.</param>
/// <param name="bGetAction">When <i>true</i> the action data is returned as a SimpleDatum.</param>
/// <returns>A tuple optionally containing a Bitmap and/or Simpledatum is returned.</returns>
public Tuple <Bitmap, SimpleDatum> Render(bool bShowUi, int nWidth, int nHeight, double[] rgData, bool bGetAction)
{
Bitmap bmp = new Bitmap(nWidth, nHeight);
double dfX = rgData[0];
double dfTheta = rgData[2];
double dfThetaInDegrees = dfTheta * (180.0 / Math.PI);
double dfForceMag = rgData[4];
int nSteps = (int)rgData[5];
m_nSteps = nSteps;
m_nMaxSteps = Math.Max(nSteps, m_nMaxSteps);
using (Graphics g = Graphics.FromImage(bmp))
{
Rectangle rc = new Rectangle(0, 0, bmp.Width, bmp.Height);
g.FillRectangle(Brushes.White, rc);
float fScreenWidth = g.VisibleClipBounds.Width;
float fScreenHeight = g.VisibleClipBounds.Height;
float fWorldWidth = (float)(m_dfXThreshold * 2);
float fScale = fScreenWidth / fWorldWidth;
float fCartY = 100; // Top of Cart;
float fPoleWidth = 10;
float fPoleLen = fScale * 1.0f;
float fCartWidth = 50;
float fCartHeight = 30;
float fL = -fCartWidth / 2;
float fR = fCartWidth / 2;
float fT = fCartHeight / 2;
float fB = -fCartHeight / 2;
float fAxleOffset = 0;
GeomCart cart = new GeomCart(fL, fR, fT, fB, Color.SkyBlue, Color.Black);
fL = -fPoleWidth / 2;
fR = fPoleWidth / 2;
fT = fPoleLen - fPoleWidth / 2;
fB = --fPoleWidth / 2;
GeomPole pole = new GeomPole(fL, fR, fT, fB, Color.Tan, Color.Black);
fL = 0;
fR = fScreenWidth;
fT = fCartY;
fB = fT;
GeomLine track = new GeomLine(fL, fR, fT, fB, Color.Black, Color.Black);
fL = 0;
fR = fScreenWidth;
fT = fCartY - 40;
fB = fT + 10;
if (m_clrMap == null)
{
m_clrMap = new ColorMapper(fL, fR, Color.Fuchsia, Color.Red);
}
GeomRectangle posbar = new GeomRectangle(fL, fR, fT, fB, Color.Black, Color.Transparent, m_clrMap);
float fCartX = (float)dfX * fScale + fScreenWidth / 2; // middle of the cart.
cart.SetLocation(fCartX, fCartY);
pole.SetRotation((float)-dfThetaInDegrees);
cart.Attach(pole, fAxleOffset);
GeomView view = new GeomView();
view.RenderText(g, "Current Force = " + dfForceMag.ToString(), 10, 10);
view.RenderText(g, "X = " + dfX.ToString("N02"), 10, 24);
view.RenderText(g, "Theta = " + dfTheta.ToString("N02") + " radians", 10, 36);
view.RenderText(g, "Theta = " + dfThetaInDegrees.ToString("N02") + " degrees", 10, 48);
view.RenderSteps(g, m_nSteps, m_nMaxSteps);
// Render the objects.
view.AddObject(posbar);
view.AddObject(track);
view.AddObject(cart);
view.Render(g);
SimpleDatum sdAction = null;
if (bGetAction)
{
sdAction = getActionData(fCartX, fCartY, bmp);
}
m_bmp = bmp;
return(new Tuple <Bitmap, SimpleDatum>(bmp, sdAction));
}
}
