public void Render(System.Drawing.Graphics g, RndfEditor.Display.Utilities.WorldTransform t)
{
// draw the sparse polygon of the selected
if (this.Toolbox.Partition != null)
{
DrawingUtility.DrawControlPolygon(
this.Toolbox.Partition.SparsePolygon,
Color.DarkSeaGreen, System.Drawing.Drawing2D.DashStyle.Solid, g, t);
foreach (Coordinates c in this.Toolbox.Partition.SparsePolygon)
{
DrawingUtility.DrawControlPoint(c, Color.DarkSeaGreen, null, ContentAlignment.MiddleCenter, ControlPointStyle.SmallX, g, t);
}
foreach (Coordinates c in this.Toolbox.tmpPolyCoords)
{
DrawingUtility.DrawControlPoint(c, Color.DarkViolet, null, ContentAlignment.MiddleCenter, ControlPointStyle.SmallCircle, g, t);
}
if (this.Toolbox.tmpPolyCoords.Count > 1)
{
for (int i = 0; i < this.Toolbox.tmpPolyCoords.Count - 1; i++)
{
DrawingUtility.DrawControlLine(this.Toolbox.tmpPolyCoords[i], this.Toolbox.tmpPolyCoords[i + 1], g, t, null, Color.DarkViolet);
}
}
}
}
public void Render(System.Drawing.Graphics g, WorldTransform t)
{
if (t.ShouldDraw(this.GetBoundingBox(t)))
{
DrawingUtility.DrawColoredControlLine(
DrawingUtility.ColorArbiterInterconnect,
System.Drawing.Drawing2D.DashStyle.DashDot,
this.initialWaypoint.Position,
this.finalWaypoint.Position,
g, t);
if (this.InitialGeneric is ArbiterWaypoint && ((ArbiterWaypoint)this.InitialGeneric).WaypointId.LaneId.WayId.Number == 1)
{
DrawingUtility.DrawControlPolygon(this.TurnPolygon, Color.DarkBlue, System.Drawing.Drawing2D.DashStyle.DashDot, g, t);
if (this.InnerCoordinates.Count > 1)
{
DrawingUtility.DrawControlPoint(this.InnerCoordinates[1], Color.DarkBlue, null, ContentAlignment.MiddleCenter, ControlPointStyle.SmallCircle, g, t);
}
}
else
{
DrawingUtility.DrawControlPolygon(this.TurnPolygon, Color.DarkGreen, System.Drawing.Drawing2D.DashStyle.DashDot, g, t);
if (this.InnerCoordinates.Count > 1)
{
DrawingUtility.DrawControlPoint(this.InnerCoordinates[1], Color.DarkGreen, null, ContentAlignment.MiddleCenter, ControlPointStyle.SmallCircle, g, t);
}
}
}
}
/// <summary>
/// Renders the lane splint
/// </summary>
/// <param name="g"></param>
/// <param name="t"></param>
/// <remarks>TODO: set lane spline</remarks>
public void Render(System.Drawing.Graphics g, WorldTransform t)
{
Color c = DrawingUtility.ColorArbiterLaneSpline;
if (DrawingUtility.DisplayArbiterLanes)
{
Coordinates cp = t.GetWorldPoint(new PointF(t.ScreenSize.Width / 2, t.ScreenSize.Height / 2));
Coordinates lp = this.LanePath().GetClosestPoint(cp).Location;
string s = this.LaneId.ToString();
DrawingUtility.DrawControlLabel(lp, Color.DarkBlue, s, ContentAlignment.MiddleCenter, ControlPointStyle.None, g, t);
}
bool displayPolygon = false;
switch (this.LaneId.Number)
{
case 1:
displayPolygon = DrawingUtility.DisplayArbiterLanePolygon1;
break;
case 2:
displayPolygon = DrawingUtility.DisplayArbiterLanePolygon2;
break;
case 3:
displayPolygon = DrawingUtility.DisplayArbiterLanePolygon3;
break;
case 4:
displayPolygon = DrawingUtility.DisplayArbiterLanePolygon4;
break;
}
if (displayPolygon && this.LanePolygon != null)
{
// show intersection polygon
HatchBrush hBrush1 = new HatchBrush(HatchStyle.ForwardDiagonal, DrawingUtility.ColorArbiterLanePolygon, Color.White);
// populate polygon
List <PointF> polyPoints = new List <PointF>();
foreach (Coordinates lpp in this.LanePolygon.points)
{
polyPoints.Add(DrawingUtility.ToPointF(lpp));
}
// draw poly and fill
g.FillPolygon(hBrush1, polyPoints.ToArray());
DrawingUtility.DrawControlPolygon(this.LanePolygon, DrawingUtility.ColorArbiterLanePolygon, System.Drawing.Drawing2D.DashStyle.Solid, g, t);
}
if (DrawingUtility.DisplayArbiterLanePath)
{
DrawingUtility.DrawControlLine(this.laneLinePath, g, t, new Pen(Color.MediumVioletRed), Color.MediumVioletRed);
}
}
public void Render(System.Drawing.Graphics g, WorldTransform t)
{
// show intersection safetyzone if supposed to show safety zone (polygon red hatch)
if (DrawingUtility.DrawArbiterSafetyZones)
{
// show intersection polygon
HatchBrush hBrush1 = new HatchBrush(HatchStyle.ForwardDiagonal, DrawingUtility.ColorArbiterSafetyZone, Color.White);
// populate polygon
List <PointF> polyPoints = new List <PointF>();
foreach (Coordinates c in this.IntersectionPolygon.points)
{
polyPoints.Add(DrawingUtility.ToPointF(c));
}
// draw poly and fill
g.FillPolygon(hBrush1, polyPoints.ToArray());
}
// render stopped exits
foreach (ArbiterStoppedExit ase in this.StoppedExits)
{
ase.Render(g, t);
}
// draw intersection polygon
DrawingUtility.DrawControlPolygon(this.IntersectionPolygon,
DrawingUtility.ColorArbiterIntersection,
DashStyle.DashDotDot,
g, t);
// show incoming lane points (disjoint from exits)
foreach (KeyValuePair <ArbiterLane, LinePath.PointOnPath> pop in this.IncomingLanePoints)
{
DrawingUtility.DrawControlPoint(pop.Key.LanePath().GetPoint(pop.Value), DrawingUtility.ColorArbiterIntersectionIncomingLanePoints, null,
ContentAlignment.MiddleCenter, ControlPointStyle.SmallX, g, t);
}
// show all entries
foreach (ITraversableWaypoint aw in this.AllEntries.Values)
{
DrawingUtility.DrawControlPoint(aw.Position, DrawingUtility.ColorArbiterIntersectionEntries, null,
ContentAlignment.MiddleCenter, ControlPointStyle.LargeCircle, g, t);
}
// show all exits
foreach (ITraversableWaypoint aw in this.AllExits.Values)
{
DrawingUtility.DrawControlPoint(aw.Position, DrawingUtility.ColorArbiterIntersectionExits, null,
ContentAlignment.MiddleCenter, ControlPointStyle.LargeCircle, g, t);
}
// draw center point
DrawingUtility.DrawControlPoint(this.Center, DrawingUtility.ColorArbiterIntersection, null, ContentAlignment.MiddleCenter, ControlPointStyle.LargeX, g, t);
}
public void Render(System.Drawing.Graphics g, WorldTransform t)
{
if (DrawingUtility.DrawArbiterZoneMap)
{
foreach (Polygon p in this.StayOutAreas)
{
DrawingUtility.DrawControlPolygon(p, Color.SteelBlue, System.Drawing.Drawing2D.DashStyle.Solid, g, t);
foreach (Coordinates c in p)
{
DrawingUtility.DrawControlPoint(c, Color.SteelBlue, null, ContentAlignment.MiddleCenter, ControlPointStyle.SmallCircle, g, t);
}
}
foreach (INavigableNode nn in this.NavigationNodes)
{
DrawingUtility.DrawControlPoint(nn.Position, Color.DarkOrange, null, ContentAlignment.MiddleCenter, ControlPointStyle.SmallCircle, g, t);
}
foreach (NavigableEdge ne in this.NavigableEdges)
{
DrawingUtility.DrawColoredArrowControlLine(Color.DarkBlue, System.Drawing.Drawing2D.DashStyle.Solid, ne.Start.Position, ne.End.Position, g, t);
}
}
}
public void Render(System.Drawing.Graphics g, WorldTransform t)
{
Polygon p = new Polygon();
Coordinates tCoord = new Coordinates();
Coordinates loc = RemoraCommon.Communicator.GetVehicleState().Position;
// body transformation matrix
Matrix bodyTrans = new Matrix();
bodyTrans.Rotate((float)(RemoraCommon.Communicator.GetVehicleState().Heading.ToDegrees()));
bodyTrans.Translate((float)loc.X, (float)loc.Y, MatrixOrder.Append);
// save original world transformation matrix
Matrix origTrans = g.Transform.Clone();
bodyTrans.Multiply(g.Transform, MatrixOrder.Append);
// set the new transform
g.Transform = bodyTrans;
if (DrawingUtility.DrawSimObstacles)
{
if (untrackedClusters != null && untrackedClusters.clusters != null)
{
for (int i = 0; i < untrackedClusters.clusters.Length; i++)
{
if (untrackedClusters.clusters[i].points.Length > 4)
{
tCoord = untrackedClusters.clusters[i].points[0];
if (Math.Abs(tCoord.X) < 60 && Math.Abs(tCoord.Y) < 60)
{
p = Polygon.GrahamScan(new List <Coordinates>(untrackedClusters.clusters[i].points));
DrawingUtility.DrawControlPolygon(p, Color.Purple, DashStyle.Solid, g, t);
}
}
}
}
}
if (DrawingUtility.DrawSimCars)
{
if (trackedClusters != null && trackedClusters.clusters != null)
{
for (int i = 0; i < trackedClusters.clusters.Length; i++)
{
Color c;
if (this.trackedClusters.clusters[i].statusFlag == SceneEstimatorTargetStatusFlag.TARGET_STATE_ACTIVE)
{
if (this.trackedClusters.clusters[i].targetClass == SceneEstimatorTargetClass.TARGET_CLASS_CARLIKE)
{
if (this.trackedClusters.clusters[i].isStopped)
{
c = Color.Red;
}
else
{
c = DrawingUtility.ColorSimTrafficCar;
}
}
else
{
c = Color.Pink;
}
}
else
{
c = DrawingUtility.ColorSimDeletedCar;
}
bool draw = this.trackedClusters.clusters[i].statusFlag == SceneEstimatorTargetStatusFlag.TARGET_STATE_ACTIVE ?
DrawingUtility.DrawSimCars :
DrawingUtility.DrawSimCars && DrawingUtility.DrawSimCarDeleted;
if (draw)
{
if (trackedClusters.clusters[i].relativePoints.Length > 2)
{
tCoord = trackedClusters.clusters[i].relativePoints[0];
if (Math.Abs(tCoord.X) < t.ScreenSize.Width / 1.5 && Math.Abs(tCoord.Y) < t.ScreenSize.Height / 1.5)
{
p = Polygon.GrahamScan(new List <Coordinates>(trackedClusters.clusters[i].relativePoints));
DrawingUtility.DrawControlPolygon(p, c, DashStyle.Solid, g, t);
}
}
}
}
}
}
g.Transform = origTrans;
}
