Exemplo n.º 1
0
        public void AimFor(MissionPlanner.Utilities.Vector3 point)
        {
            lock (aimpoints)
            {
                //point.Normalize();

                //point *= scale;

                aimpoints.Add(new Vector3((float)point.x, (float)point.y, (float)point.z));
            }
        }
Exemplo n.º 2
0
        public void AddPoint(MissionPlanner.Utilities.Vector3 point)
        {
            minx = (float)Math.Min(minx, point.X);
            maxx = (float)Math.Max(maxx, point.X);

            miny = (float)Math.Min(miny, point.Y);
            maxy = (float)Math.Max(maxy, point.Y);

            minz = (float)Math.Min(minz, point.Z);
            maxz = (float)Math.Max(maxz, point.Z);

            lock (points)
            {
                //point.Normalize();

                //point *= scale;

                points.Add(new Vector3((float)point.x, (float)point.y, (float)point.z));
            }

            this.Invalidate();
        }
Exemplo n.º 3
0
        protected override void OnPaint(System.Windows.Forms.PaintEventArgs e)
        {
            if (this.DesignMode)
            {
                e.Graphics.Clear(Color.Black);
                return;
            }

            GL.Viewport(0, 0, this.Width, this.Height);

            // radians += 5 * deg2rad;

            if (rotatewithdata)
            {
                yaw += 5 * deg2rad;
            }

            MakeCurrent();

            GL.MatrixMode(MatrixMode.Projection);

            double max = Math.Max(Math.Max((maxx - minx) / 2, (maxy - miny) / 2), (maxz - minz) / 2);

            if (max < 300)
            {
                max = 400;
            }

            max *= 1.3;

            if (points.Count > 0)
            {
                //Vector3 current = new Vector3(points[points.Count - 1].X, points[points.Count - 1].Y, points[points.Count - 1].Z);

                //yaw = Math.Atan2(points[points.Count - 1].X, points[points.Count - 1].Y);
            }


            OpenTK.Matrix4 projection = OpenTK.Matrix4.CreatePerspectiveFieldOfView((float)(45 * deg2rad), 1f, 0.00001f, 5000.0f);
            GL.LoadMatrix(ref projection);

            float eyedist = (float)max * 3;

            // Z X Y

            eye = Vector3.TransformPosition(eye, Matrix4.CreateRotationZ((float)yaw));

            yaw   = 0;
            pitch = 0;

            if (float.IsNaN(eye.X))
            {
                eye = new Vector3(1, 1, 1);
            }

            eye.Normalize();

            eye *= eyedist;

            //Console.WriteLine("eye "+ eye.ToString());
            //(maxx + minx) / 2, (maxy + miny) / 2, (maxz + minz) / 2
            Matrix4 modelview = Matrix4.LookAt(eye.X, eye.Y, eye.Z, 0, 0, 0, 0, 0, 1); // CenterPoint.X, CenterPoint.Y, CenterPoint.Z

            GL.MatrixMode(MatrixMode.Modelview);

            GL.LoadMatrix(ref modelview);

            GL.ClearColor(Color.Black);

            GL.Clear(ClearBufferMask.ColorBufferBit | ClearBufferMask.DepthBufferBit);

            // 3
            GL.PointSize(8);

            GL.Begin(PrimitiveType.Lines);

            // +tivs
            GL.Color3(Color.FromArgb(0, 0, 255));
            GL.Vertex3(0, 0, 0);
            GL.Vertex3(0, 0, max);

            GL.Color3(Color.FromArgb(0, 255, 0));
            GL.Vertex3(0, 0, 0);
            GL.Vertex3(0, max, 0);

            GL.Color3(Color.FromArgb(255, 0, 0));
            GL.Vertex3(0, 0, 0);
            GL.Vertex3(max, 0, 0);

            // -atives
            GL.Color3(Color.FromArgb(255, 255, 0));
            GL.Vertex3(0, 0, 0);
            GL.Vertex3(0, 0, -max);

            GL.Color3(Color.FromArgb(255, 0, 255));
            GL.Vertex3(0, 0, 0);
            GL.Vertex3(0, -max, 0);

            GL.Color3(Color.FromArgb(0, 255, 255));
            GL.Vertex3(0, 0, 0);
            GL.Vertex3(-max, 0, 0);


            GL.End();

            //GL.Rotate(Pitch, 0, 0, 0);
            //GL.Rotate(Roll, 0, 0, 0);
            // GL.Rotate(Yaw, 0, 0, 0);

            GL.Begin(PrimitiveType.Points);


            lock (points)
            {
                foreach (var item in points)
                {
                    float rangex = maxx - minx;
                    float rangey = maxy - miny;
                    float rangez = maxz - minz;

                    int valuex = (int)Math.Abs((((item.X) / rangex) * 254)) & 0xff;
                    int valuey = (int)Math.Abs((((item.Y) / rangey) * 254)) & 0xff;
                    int valuez = (int)Math.Abs((((item.Z) / rangez) * 254)) & 0xff;

                    Color col = Color.FromArgb(valuex, valuey, valuez);

                    GL.Color3(col);

                    var vec = new MissionPlanner.Utilities.Vector3(item.X, item.Y, item.Z) + CenterPoint;

                    GL.Vertex3(new Vector3((float)vec.x, (float)vec.y, (float)vec.z));
                }

                lock (aimpoints)
                {
                    foreach (var aim in aimpoints)
                    {
                        GL.PointSize(8);
                        GL.Color3(Color.White);
                        var vec = new MissionPlanner.Utilities.Vector3(aim.X, aim.Y, aim.Z) + CenterPoint;
                        GL.Vertex3(new Vector3((float)vec.x, (float)vec.y, (float)vec.z));
                    }
                }

                GL.End();

                // 8
                GL.PointSize(12);

                GL.Begin(PrimitiveType.Points);

                GL.Color3(Color.Red);

                if (points.Count > 0)
                {
                    var vec = new MissionPlanner.Utilities.Vector3(points[points.Count - 1].X, points[points.Count - 1].Y, points[points.Count - 1].Z) + CenterPoint;
                    GL.Vertex3(new Vector3((float)vec.x, (float)vec.y, (float)vec.z));
                }
            }

            GL.End();

            Console.WriteLine(Math.Atan2(eye.Y, eye.X));

            //float newyaw = 0 * deg2rad;

            //DrawCircle(CenterPoint.X, CenterPoint.Y, CenterPoint.Z, newyaw, (float)(max), 60);

            this.SwapBuffers();
        }