private void TerrainPaint(object sender, PaintEventArgs e)
{
var pen = new Pen(Color.Wheat);
var waterColor = new SolidBrush(Color.Aqua);
var rockColor = new SolidBrush(Color.Chocolate);
var cellWidth = terrain.Width / _n;
var cellHeight = terrain.Height / _m;
for (var i = 0; i < _n; i++)
{
e.Graphics.DrawLine(pen, new Point(i * cellWidth, 0), new Point(i * cellWidth, i * cellWidth + terrain.Height));
}
for (var i = 0; i < _m; i++)
{
e.Graphics.DrawLine(pen, new Point(0, i * cellHeight), new Point(i * cellHeight + terrain.Width, i * cellHeight));
}
if (_marsRover.ExistsPlan())
{
foreach (var cell in _marsRover.CurrentPlan.Path)
{
e.Graphics.FillRectangle(new SolidBrush(Color.Yellow), cell.Item2 * cellWidth, cell.Item1 * cellHeight,
cellWidth, cellHeight);
}
}
for (var i = 0; i < _n; i++)
{
for (var j = 0; j < _m; j++)
{
if (_mars.TerrainAt(i, j) > _marsRover.RunningOverThreshold)
{
e.Graphics.DrawImage(new Bitmap("obstacle-transparency.png"), j * cellWidth, i * cellHeight,
cellWidth, cellHeight);
}
if (_mars.WaterAt(i, j))
{
e.Graphics.DrawImage(new Bitmap("water-transparency.png"), j * cellWidth, i * cellHeight, cellWidth, cellHeight);
}
// Draw every belief in white
foreach (var belief in _marsRover.Beliefs)
{
var pred = belief.Predicate as List <Tuple <int, int> >;
if (pred != null && !pred.Contains(new Tuple <int, int>(i, j)))
{
continue;
}
if (belief.Name == TypesBelief.ObstaclesOnTerrain)
{
e.Graphics.DrawImage(new Bitmap("obstacle-transparency.png"), j * cellWidth, i * cellHeight,
cellWidth, cellHeight);
e.Graphics.DrawRectangle(new Pen(Color.Gold, 6), j * cellWidth, i * cellHeight,
cellWidth, cellHeight);
}
if (belief.Name == TypesBelief.PotentialWaterSpots)
{
e.Graphics.DrawImage(new Bitmap("water-transparency.png"), j * cellWidth, i * cellHeight,
cellWidth, cellHeight);
e.Graphics.DrawRectangle(new Pen(Color.Gold, 6), j * cellWidth, i * cellHeight,
cellWidth, cellHeight);
}
}
}
}
e.Graphics.DrawImage(new Bitmap("rover-transparency.png"), _marsRover.Y * cellWidth, _marsRover.X * cellHeight, cellWidth, cellHeight);
var sightColor = Color.FromArgb(80, Color.Lavender);
_marsRover.GetCurrentTerrain();
foreach (var cell in _marsRover.CurrentTerrain)
{
e.Graphics.FillRectangle(new SolidBrush(sightColor), cell.Item2 * cellWidth, cell.Item1 * cellHeight, cellWidth, cellHeight);
}
}