/// <summary>
/// Draws the CurrentEnvironment to the screen.
/// </summary>
public void draw(Graphics g, CoordinateFrame frame)
{
float sx, sy;
float gx, gy;
frame.convertToDisplay((float)start_point.X, (float)start_point.Y, out sx, out sy);
frame.convertToDisplay((float)goal_point.X, (float)goal_point.Y, out gx, out gy);
Rectangle startrect = new Rectangle((int)sx - 3, (int)sy - 3, 6, 6);
Rectangle goalrect = new Rectangle((int)gx - 3, (int)gy - 3, 6, 6);
float rx, ry, rsx, rsy;
frame.convertToDisplay((float)AOIRectangle.X, (float)AOIRectangle.Y, out rx, out ry);
frame.convertToDisplayOffset((float)AOIRectangle.Width, (float)AOIRectangle.Height, out rsx, out rsy);
Rectangle AOIDisplay = new Rectangle((int)rx, (int)ry, (int)rsx, (int)rsy);
//Display Area of Interest rectangle
g.DrawRectangle(EngineUtilities.DashedPen, AOIDisplay);
g.DrawEllipse(EngineUtilities.BluePen, startrect);
g.DrawEllipse(EngineUtilities.RedPen, goalrect);
//Display Point Of Interests
int index = 0;
foreach (Point p in POIPosition)
{
Point p2 = frame.convertToDisplay(p);
g.DrawEllipse(EngineUtilities.GreendPen, new Rectangle((int)p2.X - 3, (int)p2.Y - 3, 6, 6));
g.DrawString(index.ToString(), new Font("Verdana", 8), new SolidBrush(Color.Black), p2.X, p2.Y);
index++;
}
foreach (Wall wall in walls)
{
wall.draw(g, frame);
}
if (!this.AgentVisible)
{
return;
}
List <RobotAgent> agents = this.agents.Values.ToList();
foreach (RobotAgent agent in agents)
{
if (!agent.Visible)
{
continue;
}
agent.draw(g, frame, agent == CurrentAgent?ShowTrail:false);
}
}
/// <summary>
/// Draws the wall to the screen.
/// </summary>
public void draw(Graphics graphics, CoordinateFrame frame)
{
float ax, ay, bx, by;
frame.convertToDisplay((float)Line.Endpoint1.X, (float)Line.Endpoint1.Y, out ax, out ay);
frame.convertToDisplay((float)Line.Endpoint2.X, (float)Line.Endpoint2.Y, out bx, out by);
if (Visible)
{
graphics.DrawLine(EngineUtilities.BluePen, ax, ay, bx, by);
}
else
{
graphics.DrawLine(EngineUtilities.GreendPen, ax, ay, bx, by);
}
}