public static void drawSequence(Action <int> deleteElemetFromSequence, UIStates uistates, List <int> sequence, Canvas mainCanvas)
{
mainCanvas.Children.Clear();
double width = (mainCanvas.ActualWidth);
double height = mainCanvas.ActualHeight;
if (width > 0)
{
double boxHeight = 0.8 * height;
double boxWidth = Math.Min(100, (0.9 * width) / sequence.Count);
double marginWidth = 0.5 * (width - sequence.Count * boxWidth) - 1;
double marginHeight = 0.1 * height;
for (int i = 0; i < sequence.Count; i++)
{
int iCopy = i;
Rectangle rec = new Rectangle();
rec.Width = boxWidth - 2;
rec.Height = boxHeight;
rec.SetValue(Canvas.TopProperty, marginHeight);
rec.SetValue(Canvas.LeftProperty, marginWidth + i * boxWidth);
int colorId = sequence[i];
if (colorId < 0)
{
rec.Fill = new SolidColorBrush(Color.FromArgb(255, 190, 190, 190));
}
else
{
if (colorId >= uistates.niceColors.Count)
{
rec.Fill = new SolidColorBrush(Colors.Black);
}
else
{
rec.Fill = uistates.niceColors[colorId];
}
}
ContextMenu cm = new ContextMenu();
MenuItem del = new MenuItem();
del.Header = "delete";
cm.Items.Add(del);
rec.ContextMenu = cm;
del.Click += (sender, e) => {
deleteElemetFromSequence(iCopy);
};
mainCanvas.Children.Add(rec);
}
}
}
public static void drawGaitOptions(UIStates uistates, List <Point> jointLocations,
List <List <int> > labelsList, List <List <double> > angleList, Canvas mainCanvas, BitmapImage bitmapImage, Vector drawing_translate, Vector drawing_size)
{
if (mainCanvas.ActualWidth > 0)
{
mainCanvas.Children.Clear();
//finding bounding box
double xmin, xmax, ymin, ymax;
List <double> Xs = new List <double>();
List <double> Ys = new List <double>();
foreach (var point in jointLocations)
{
Xs.Add(point.X);
Ys.Add(point.Y);
}
Xs.Add(drawing_translate.X);
Xs.Add(drawing_translate.X + drawing_size.X);
Ys.Add(drawing_translate.Y);
Ys.Add(drawing_translate.Y + drawing_size.Y);
if (Xs.Count == 0 || Ys.Count == 0)
{
return;
}
xmin = Xs.Min();
xmax = Xs.Max();
ymin = Ys.Min();
ymax = Ys.Max();
double width = (mainCanvas.ActualWidth) / labelsList.Count - 4;
double height = mainCanvas.ActualHeight - 4;
double marginRatio = 0.1;
double scale = Math.Min(width * (1 - marginRatio) / (xmax - xmin), height * (1 - marginRatio) / (ymax - ymin));
Vector pCenter = 0.5 * new Vector(xmax + xmin, ymax + ymin);
Vector center = 0.5 * new Vector(width + 4, height + 4);
Vector translate = center - pCenter;
Matrix matrix = Matrix.Identity;
matrix.Translate(-pCenter.X, -pCenter.Y);
matrix.Scale(scale, scale);
matrix.Translate(pCenter.X, pCenter.Y);
matrix.Translate(translate.X, translate.Y);
//Polygon robotPolygon = new Polygon();
//foreach (var point in jointChoices.Layout.RobotShape)
//{
// robotPolygon.Points.Add(point * matrix);
//}
//robotPolygon.Fill = Brushes.Azure;
//robotPolygon.Stroke = Brushes.DarkSlateGray;
//mainCanvas.Children.Add(robotPolygon);
Color simpleBlack = Color.FromArgb(255, 100, 100, 100);
Color hightlightColor = Colors.LightBlue;
Color darkWhite = Color.FromRgb(210, 210, 210);
for (int labelId = 0; labelId < labelsList.Count; labelId++)
{
int labelCopy = labelId;
Rectangle rec = new Rectangle();
rec.Width = width;
rec.Height = height;
double xMargin = (2 + labelId * (width + 4));
double yMargin = 2;
rec.SetValue(Canvas.LeftProperty, xMargin);
rec.SetValue(Canvas.TopProperty, yMargin);
rec.Fill = uistates.niceColors[labelId];
rec.MouseDown += (sender, args) =>
{
DataObject data = new DataObject("gaitOption", labelCopy);
DragDrop.DoDragDrop(rec, data, DragDropEffects.All);
};
//mainCanvas.Children.Add(rec);
Image topview = getImageFromBitMap(bitmapImage, uistates.niceColorsNoBrush[labelId]);
topview.Width = bitmapImage.Width * scale;
topview.Height = bitmapImage.Height * scale;
Point cornerVertex = new Point(drawing_translate.X, drawing_translate.Y) * matrix;
Canvas.SetLeft(topview, cornerVertex.X);
Canvas.SetTop(topview, cornerVertex.Y);
mainCanvas.Children.Add(topview);
topview.MouseDown += (sender, args) =>
{
DataObject data = new DataObject("gaitOption", labelCopy);
DragDrop.DoDragDrop(rec, data, DragDropEffects.All);
};
for (int i = 0; i < jointLocations.Count; i++)
{
var iCopy = i;
Point joint = jointLocations[i];
int label = labelsList[labelId][i];
Ellipse ellipse = new Ellipse();
ellipse.Width = 20;
ellipse.Height = 20;
ellipse.Fill = new SolidColorBrush(darkWhite);
ellipse.Stroke = null;// new RadialGradientBrush(Colors.Black, Colors.White);
ellipse.StrokeThickness = 5;
ellipse.SetValue(Canvas.TopProperty, (joint * matrix).Y - 10);
ellipse.SetValue(Canvas.LeftProperty, (joint * matrix).X - 10);
mainCanvas.Children.Add(ellipse);
double angle = angleList[labelId][i];
if (angle != 0)
{
drawOrientationArrow(mainCanvas, (joint * matrix), (angle < 0));
}
Label text = new Label();
text.Content = label;
text.HorizontalContentAlignment = HorizontalAlignment.Center;
text.VerticalContentAlignment = VerticalAlignment.Center;
text.FontSize = 15;
text.Foreground = new SolidColorBrush(Colors.Black);
//text.FontStyle = System.Drawing.FontStyle.Bold;
text.Width = 20;
text.Height = 20;
text.Padding = new Thickness(0);
text.SetValue(Canvas.TopProperty, (joint * matrix).Y - 10);
text.SetValue(Canvas.LeftProperty, (joint * matrix).X - 10);
if (label != 0)
{
mainCanvas.Children.Add(text);
}
}
matrix.Translate((width + 4), 0);
}
}
}
public static void Draw(UIStates uiStates, List <PointList2D> paths, Canvas canvas,
BitmapImage bitmapImage, Vector drawing_translate, Vector drawing_size, Drawing drawing, bool isCakeTask, List <double> rotationAngles,
List <int> gaitSequence
)
{
canvas.Children.Clear();
//List<Point> floorPoints = new List<Point>();
//double x = 1000.0; // floor width / 2
//double z = 1000.0; // floor length / 2
//floorPoints.Add(new Point(-x, z));
//floorPoints.Add(new Point(x, z));
//floorPoints.Add(new Point(x, -z));
//floorPoints.Add(new Point(-x, -z));
//finding bounding box
double xmin, xmax, ymin, ymax;
List <double> Xs = new List <double>();
List <double> Ys = new List <double>();
foreach (var path in paths)
{
foreach (var point in path.points)
{
Xs.Add(point.X);
Ys.Add(point.Y);
}
}
Xs.Add(drawing_translate.X);
Xs.Add(drawing_translate.X + drawing_size.X);
Ys.Add(drawing_translate.Y);
Ys.Add(drawing_translate.Y + drawing_size.Y);
if (isCakeTask)
{
Xs.Add(-600);
Ys.Add(-600);
Ys.Add(+600);
}
//foreach (var point in floorPoints)
//{
// Xs.Add(point.X);
// Ys.Add(point.Y);
//}
if (Xs.Count == 0 || Ys.Count == 0)
{
return;
}
xmin = Xs.Min();
xmax = Xs.Max();
ymin = Ys.Min();
ymax = Ys.Max();
double bsize = 100;
double ixmin = Math.Floor(xmin / bsize);
double ixmax = Math.Ceiling(xmax / bsize);
double iymin = Math.Floor(ymin / bsize);
double iymax = Math.Ceiling(ymax / bsize);
xmin = ixmin * bsize;
ymin = iymin * bsize;
xmax = ixmax * bsize;
ymax = iymax * bsize;
double width = canvas.ActualWidth;
double height = canvas.ActualHeight;
double marginRatio = 0.1;
double scale = Math.Min(width * (1 - marginRatio) / (xmax - xmin), height * (1 - marginRatio) / (ymax - ymin));
Vector pCenter = 0.5 * new Vector(xmax + xmin, ymax + ymin);
Vector center = 0.5 * new Vector(width, height);
Vector translate = center - pCenter;
Matrix matrix = Matrix.Identity;
matrix.Translate(-pCenter.X, -pCenter.Y);
matrix.Scale(scale, scale);
matrix.Translate(pCenter.X, pCenter.Y);
matrix.Translate(translate.X, translate.Y);
//matrix.Scale(scale, scale);
for (double i = ixmin; i < (ixmax); i = i + 1)
{
for (double j = iymin; j < iymax; j = j + 1)
{
Polygon polygon = new Polygon();
polygon.Points.Add((new Point(i * bsize, j * bsize)) * matrix);
polygon.Points.Add((new Point((i + 1) * bsize, (j) * bsize)) * matrix);
polygon.Points.Add((new Point((i + 1) * bsize, (j + 1) * bsize)) * matrix);
polygon.Points.Add((new Point((i) * bsize, (j + 1) * bsize)) * matrix);
polygon.Stroke = Brushes.LightGray;
polygon.StrokeThickness = 1;
polygon.Fill = new SolidColorBrush(Color.FromArgb(255, 255, 255, 255));
canvas.Children.Add(polygon);
}
}
// draw the intial shape
// foreach (var face in drawing.faces)
// {
// Polygon polygon = new Polygon();
// foreach (var point in face.points)
// {
// polygon.Points.Add(point * matrix);
// }
// polygon.Fill = new SolidColorBrush(Colors.Red);
// canvas.Children.Add(polygon);
// }
if (isCakeTask)
{
List <Point> positions = new List <Point>();
positions.Add(new Point(-300 - 50, 0 - 50));
positions.Add(new Point(-300 - 50, 400 - 50));
positions.Add(new Point(-100 - 50, 200 - 50));
positions.Add(new Point(-500 - 50, 200 - 50));
positions.Add(new Point(-300 - 50, -400 - 50));
positions.Add(new Point(-100 - 50, -200 - 50));
positions.Add(new Point(-500 - 50, -200 - 50));
for (int p = 0; p < positions.Count; p++)
{
Rectangle rec = new Rectangle();
rec.Width = 100 * scale;
rec.Height = 100 * scale;
rec.SetValue(Canvas.TopProperty, (positions[p] * matrix).Y);
rec.SetValue(Canvas.LeftProperty, (positions[p] * matrix).X);
rec.Fill = new SolidColorBrush(Colors.Black);
canvas.Children.Add(rec);
}
List <Point> boudsLocations = new List <Point>();
List <Point> boudsSizes = new List <Point>();
boudsLocations.Add(new Point(-100, 0)); boudsSizes.Add(new Point(4, 1200));
boudsLocations.Add(new Point(-600, 400)); boudsSizes.Add(new Point(5, 400));
boudsLocations.Add(new Point(-600, -400)); boudsSizes.Add(new Point(5, 400));
boudsLocations.Add(new Point(-350, 600)); boudsSizes.Add(new Point(500, 5));
boudsLocations.Add(new Point(-350, -600)); boudsSizes.Add(new Point(500, 5));
for (int i = 0; i < boudsLocations.Count; i++)
{
Point pos = new Point();
pos.X = boudsLocations[i].X - 0.5 * boudsSizes[i].X;
pos.Y = boudsLocations[i].Y - 0.5 * boudsSizes[i].Y;
Rectangle line = new Rectangle();
line.Width = boudsSizes[i].X * scale;
line.Height = boudsSizes[i].Y * scale;
line.SetValue(Canvas.TopProperty, (pos * matrix).Y);
line.SetValue(Canvas.LeftProperty, (pos * matrix).X);
if (i > 0)
{
line.Fill = new SolidColorBrush(Colors.Black);
}
else
{
line.Fill = new SolidColorBrush(Colors.DarkGray);
}
canvas.Children.Add(line);
}
Point cakepos = new Point(-600 - 100, -100);
Ellipse cake = new Ellipse();
cake.Width = 200 * scale;
cake.Height = 200 * scale;
cake.SetValue(Canvas.TopProperty, (cakepos * matrix).Y);
cake.SetValue(Canvas.LeftProperty, (cakepos * matrix).X);
cake.Fill = new SolidColorBrush(Colors.LightPink);
canvas.Children.Add(cake);
}
Image topview = new Image();
topview.Source = bitmapImage;
topview.Width = bitmapImage.Width * scale;
topview.Height = bitmapImage.Height * scale;
Point cornerVertex = new Point(drawing_translate.X, drawing_translate.Y) * matrix;
Canvas.SetLeft(topview, cornerVertex.X);
Canvas.SetTop(topview, cornerVertex.Y);
//Console.Write(" top x = " + ((drawing_translate.X * scale) + translate.X));
//Console.Write(" drawing_translate.X = " + drawing_translate.X);
//Console.Write(" scale= " + scale);
//Console.Write(" translate.X = " + translate.X);
//Console.Write(" top y = " + ((drawing_translate.Y * scale) + translate.Y));
//Console.Write(" drawing_translate.y = " + drawing_translate.Y);
//Console.Write(" scale= " + scale);
//Console.Write(" translate.y = " + translate.Y);
canvas.Children.Add(topview);
int count = -1;
foreach (var path in paths)
{
List <Point> transformedPoints = new List <Point>();
transformedPoints.Clear();
foreach (var point in path.points)
{
transformedPoints.Add(point * matrix);
}
if (transformedPoints.Count > 1)
{
//Polygon topViewPoly = new Polygon();
//foreach (var point in topView.points)
//{
// topViewPoly.Points.Add(point * matrix);
//}
//topViewPoly.Fill = new SolidColorBrush(Color.FromArgb(255, 100, 100, 100));
//canvas.Children.Add(topViewPoly);
for (int i = 1; i < transformedPoints.Count; i++)
{
Line line = new Line();
line.X1 = transformedPoints[i - 1].X;
line.Y1 = transformedPoints[i - 1].Y;
line.X2 = transformedPoints[i].X;
line.Y2 = transformedPoints[i].Y;
if (count >= 0)
{
line.Stroke = uiStates.niceColors[count];
}
else
{
/*
* int refID = (int) Math.Floor(((double)(i-1) )/100.0 );
* if (refID < 0) refID = 0;
* int colorId = -1;
* if (refID < gaitSequence.Count)
* {
* colorId = gaitSequence[refID];
* }
* Console.WriteLine("trandformed oitn = " + transformedPoints.Count );
* Console.WriteLine("i = " + i + " refId = " + refID + " gait = " + colorId);
* if (colorId >= 0 ){
* line.Stroke = uiStates.niceColors[colorId]; //new SolidColorBrush(Colors.Black);
* }else{
* line.Stroke = new SolidColorBrush(Colors.Gray);
*
* }
*/
line.Stroke = new SolidColorBrush(Colors.Black);
}
line.StrokeThickness = 5;
//if(count < 0){
canvas.Children.Add(line);
//}
}
if (count >= 0)
{
double rotAngle = rotationAngles[count];
Polygon Arrow = new Polygon();
double wa = 3.5 * 2;
double wl = 2.5 * 2;
double hl = 14 * 2;
double ha = 7 * 2;
Matrix arrowMatrix = new Matrix();
arrowMatrix.Rotate(rotAngle + 90);
Point arrowCenter = transformedPoints[transformedPoints.Count - 1];
arrowMatrix.Translate(arrowCenter.X, arrowCenter.Y);
Arrow.Points.Add(new Point(-wl, 0) * arrowMatrix);
Arrow.Points.Add(new Point(-wl, hl) * arrowMatrix);
Arrow.Points.Add(new Point(-(wa + wl), hl) * arrowMatrix);
Arrow.Points.Add(new Point(0, hl + ha) * arrowMatrix);
Arrow.Points.Add(new Point(wa + wl, hl) * arrowMatrix);
Arrow.Points.Add(new Point(wl, hl) * arrowMatrix);
Arrow.Points.Add(new Point(wl, 0) * arrowMatrix);
Arrow.Fill = uiStates.niceColors[count];
canvas.Children.Add(Arrow);
}
}
count++;
}
}
public Debugging(UIStates uiStates)
{
this.uiStates = uiStates;
}
public Command(UIInstance uiInstance, UIStates uiStates, MainWindow mainWindow)
{
UiInstance = uiInstance;
UiStates = uiStates;
MainWindow = mainWindow;
}
public static void Draw(UIStates uiStates, Dictionary <TemplateRef, Drawing> drawings, Canvas canvas, TemplateRef selectedTemplate, Action <TemplateRef> selectionCallback)
{
canvas.Children.Clear();
//finding bounding box
double xmin, xmax, ymin, ymax;
List <double> Xs = new List <double>();
List <double> Ys = new List <double>();
foreach (var drawing in drawings.Values)
{
foreach (var face in drawing.faces)
{
foreach (var point in face.points)
{
Xs.Add(point.X);
Ys.Add(point.Y);
}
}
}
if (Xs.Count == 0 || Ys.Count == 0)
{
return;
}
xmin = Xs.Min();
xmax = Xs.Max();
ymin = Ys.Min();
ymax = Ys.Max();
double width = canvas.ActualWidth;
double height = canvas.ActualHeight;
double marginRatio = 0.1;
double scale = Math.Min(width * (1 - marginRatio) / (xmax - xmin), height * (1 - marginRatio) / (ymax - ymin));
Vector pCenter = 0.5 * new Vector(xmax + xmin, ymax + ymin);
Vector center = 0.5 * new Vector(width, height);
Vector translate = center - pCenter;
Matrix matrix = Matrix.Identity;
matrix.Translate(-pCenter.X, -pCenter.Y);
matrix.Scale(scale, scale);
matrix.Translate(pCenter.X, pCenter.Y);
matrix.Translate(translate.X, translate.Y);
//matrix.Scale(scale, scale);
// adding polygons
Dictionary <TemplateRef, Polygon> polygons = new Dictionary <TemplateRef, Polygon>();
int seletedIndex = 0;
foreach (var kvp in drawings)
{
var template = kvp.Key;
var drawing = kvp.Value;
foreach (var face in drawing.faces)
{
if (template.Equals(selectedTemplate))
{
seletedIndex = polygons.Count;
}
Polygon polygon = new Polygon();
foreach (var point in face.points)
{
polygon.Points.Add(point * matrix);
}
polygons[template] = polygon;
canvas.Children.Add(polygon);
}
}
Vector vec = new Vector(0, 0);
foreach (var kvp in polygons)
{
TemplateRef template = kvp.Key;
Polygon A = kvp.Value;
bool intersect = false;
foreach (var B in polygons.Values)
{
if (A != B)
{
if (uiStates.ShowOverlaps && CollisionDetector.PolygonCollision(A, B, vec).Intersect == true)
{
intersect = true;
}
}
}
if (selectedTemplate.IsAncestorOf(template))
{
A.Fill = selectedFill;
A.Stroke = Brushes.Black;
}
else if (intersect == true)
{
A.Stroke = Brushes.Red;
A.StrokeThickness = 2;
A.Fill = polygonFill;
}
else
{
A.Stroke = Brushes.Black;
A.Fill = Brushes.Linen;
}
//adding mouse click event handler
A.MouseDown += (sender, args) =>
{
selectionCallback(template);
};
Brush old = null;
A.MouseEnter += (sender, args) =>
{
old = A.Fill;
A.Fill = hoverFill;
};
A.MouseLeave += (sender, args) =>
{
A.Fill = old;
};
}
}
