public PointAnalysisTool(PlanarProjection projection, bool snap, ArbiterRoadNetwork arn, WorldTransform wt)
{
this.projection = projection;
this.snapToWaypoints = snap;
this.roadNetwork = arn;
this.wt = wt;
}
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 InMove(UrbanChallenge.Common.Coordinates orig, UrbanChallenge.Common.Coordinates offset, WorldTransform t)
{
this.position = orig + offset;
}
public System.Drawing.RectangleF GetBoundingBox(WorldTransform wt)
{
// Determine size of bounding box
float scaled_offset = 1 / wt.Scale;
// invert the scale
float scaled_size = DrawingUtility.cp_large_size;
// assume that the world transform is currently applied correctly to the graphics
RectangleF rect = new RectangleF((float)this.position.X - scaled_size / 2, (float)this.position.Y - scaled_size / 2, scaled_size, scaled_size);
// return
return rect;
}
public void BeginMove(UrbanChallenge.Common.Coordinates orig, WorldTransform t)
{
}
/// <summary>
/// Perform a test to see if this is selected
/// </summary>
/// <param name="loc"></param>
/// <param name="tol"></param>
/// <param name="filter"></param>
/// <returns></returns>
public HitTestResult HitTest(Coordinates loc, float tol, WorldTransform wt, DisplayObjectFilter filter)
{
// return a no-hit
return new HitTestResult(this, false, float.MaxValue);
}
public void Render(System.Drawing.Graphics g, WorldTransform t)
{
Color c;
if (this.selected == SelectionType.NotSelected)
{
c = DrawingUtility.ColorArbiterUserWaypoint;
}
else
{
c = DrawingUtility.ColorArbiterUserWaypointSelected;
}
if (DrawingUtility.DisplayArbiterWaypointId)
{
DrawingUtility.DrawControlPoint(this.position, c, this.WaypointId.ToString(), ContentAlignment.BottomCenter, ControlPointStyle.SmallCircle, g, t);
}
else
{
DrawingUtility.DrawControlPoint(this.position, c, null, ContentAlignment.BottomCenter, ControlPointStyle.SmallCircle, g, t);
}
}
public void CancelMove(Coordinates orig, WorldTransform t)
{
this.position = orig;
}
public void Render(System.Drawing.Graphics g, WorldTransform t)
{
Color c = DrawingUtility.ColorArbiterPerimeterWaypoint;
if (selected == SelectionType.SingleSelected)
c = DrawingUtility.ColorArbiterPerimeterWaypointSelected;
else if (this.IsExit)
c = Color.Red;
else if (this.IsEntry)
c = Color.Blue;
if (DrawingUtility.DisplayArbiterPerimeterWaypointId)
{
DrawingUtility.DrawControlPoint(this.position, c, this.WaypointId.ToString(),
ContentAlignment.BottomCenter, ControlPointStyle.SmallBox, g, t);
}
else
{
DrawingUtility.DrawControlPoint(this.position, c, null,
ContentAlignment.BottomCenter, ControlPointStyle.SmallBox, g, t);
}
}
public void Render(System.Drawing.Graphics g, WorldTransform t)
{
if (this.Mode == ZoneToolboxMode.StayOut)
{
if (this.WrappingHelpers.Count > 0)
{
for (int i = 0; i < this.WrappingHelpers.Count; i++)
{
DrawingUtility.DrawControlPoint(this.WrappingHelpers[i], Color.SteelBlue, null, ContentAlignment.MiddleCenter, ControlPointStyle.SmallCircle, g, t);
if (i + 1 < this.WrappingHelpers.Count)
{
DrawingUtility.DrawColoredControlLine(Color.SteelBlue, System.Drawing.Drawing2D.DashStyle.Solid,
this.WrappingHelpers[i], this.WrappingHelpers[i + 1], g, t);
}
}
if (this.WrappingHelpers.Count > 0)
{
DrawingUtility.DrawColoredControlLine(Color.SteelBlue, System.Drawing.Drawing2D.DashStyle.Solid,
this.WrappingHelpers[this.WrappingHelpers.Count - 1], this.CurrentMouse, g, t);
}
}
}
else if (this.Mode == ZoneToolboxMode.NavNodes)
{
if (this.rightClickNode != null)
{
DrawingUtility.DrawControlPoint(this.rightClickNode.Position, Color.Red, null, ContentAlignment.MiddleCenter, ControlPointStyle.SmallCircle, g, t);
}
else if (this.rightClickEdge != null)
{
DrawingUtility.DrawColoredArrowControlLine(Color.Red, System.Drawing.Drawing2D.DashStyle.Solid,
this.rightClickEdge.Start.Position, this.rightClickEdge.End.Position, g, t);
}
if (this.PreviousNode != null)
{
DrawingUtility.DrawColoredArrowControlLine(Color.DarkBlue, System.Drawing.Drawing2D.DashStyle.Solid,
this.PreviousNode.Position, this.CurrentMouse, g, t);
}
}
}
public RulerTool(bool snap, ArbiterRoadNetwork arn, WorldTransform wt)
{
this.snapToWaypoints = snap;
this.roadNetwork = arn;
this.wt = wt;
}
public void Render(System.Drawing.Graphics g, WorldTransform t)
{
if (this.Initial != null && this.Current != null)
{
DrawingUtility.DrawControlPoint(this.Initial.Value, DrawingUtility.ColorToolRuler, null, System.Drawing.ContentAlignment.BottomCenter, ControlPointStyle.SmallCircle, g, t);
DrawingUtility.DrawControlPoint(this.Current.Value, DrawingUtility.ColorToolRuler, null, System.Drawing.ContentAlignment.BottomCenter, ControlPointStyle.SmallCircle, g, t);
DrawingUtility.DrawColoredControlLine(DrawingUtility.ColorToolRuler, System.Drawing.Drawing2D.DashStyle.Solid,
this.Initial.Value, this.Current.Value, g, t);
Coordinates dir = this.Current.Value - this.Initial.Value;
Coordinates final = this.Initial.Value + dir.Normalize(dir.Length / 2.0);
string label = dir.Length.ToString("F6") + " m";
DrawingUtility.DrawControlPoint(final, DrawingUtility.ColorToolRuler, label, System.Drawing.ContentAlignment.BottomCenter, ControlPointStyle.None, g, t);
}
}
public void Render(System.Drawing.Graphics g, WorldTransform t)
{
}
public System.Drawing.RectangleF GetBoundingBox(WorldTransform wt)
{
return new System.Drawing.RectangleF();
}
public void Render(System.Drawing.Graphics g, WorldTransform t)
{
if (!this.snapToWaypoints || this.roadNetwork == null)
{
if (this.Current != null)
{
LLACoord lla = GpsTools.XyToLlaDegrees(Current, projection);
string locString = Current.X.ToString("F6") + ", " + Current.Y.ToString("F6") + "\n" +
lla.lat.ToString("F6") + ", " + lla.lon.ToString("F6") + "\n" + GpsTools.LlaDegreesToArcMinSecs(lla);
DrawingUtility.DrawControlPoint(this.Current, DrawingUtility.ColorToolPointAnalysis, locString,
ContentAlignment.BottomCenter, ControlPointStyle.SmallCircle, g, t);
}
if (Save != null && Save.Count > 0)
{
foreach (Coordinates tmp in Save)
{
LLACoord lla = GpsTools.XyToLlaDegrees(tmp, projection);
string locString = tmp.X.ToString("F6") + ", " + tmp.Y.ToString("F6") + "\n" +
lla.lat.ToString("F6") + ", " + lla.lon.ToString("F6") + "\n" + GpsTools.LlaDegreesToArcMinSecs(lla);
DrawingUtility.DrawControlPoint(tmp, DrawingUtility.ColorToolPointAnalysis, locString,
ContentAlignment.BottomCenter, ControlPointStyle.SmallCircle, g, t);
}
}
}
else
{
if (this.Current != null)
{
Coordinates c = this.Current;
double minDist = Double.MaxValue;
Coordinates? closest = null;
foreach (IArbiterWaypoint iaw in this.roadNetwork.ArbiterWaypoints.Values)
{
double d = iaw.Position.DistanceTo(c);
if (d < minDist && ((IDisplayObject)iaw).HitTest(c, (float)0.2, wt, DrawingUtility.DefaultFilter).Hit)
{
minDist = d;
closest = iaw.Position;
}
}
if (closest != null)
c = closest.Value;
LLACoord lla = GpsTools.XyToLlaDegrees(c, projection);
string locString = c.X.ToString("F6") + ", " + c.Y.ToString("F6") + "\n" +
lla.lat.ToString("F6") + ", " + lla.lon.ToString("F6") + "\n" + GpsTools.LlaDegreesToArcMinSecs(lla);
DrawingUtility.DrawControlPoint(c, DrawingUtility.ColorToolPointAnalysis, locString,
ContentAlignment.BottomCenter, ControlPointStyle.SmallCircle, g, t);
}
}
}
public System.Drawing.RectangleF GetBoundingBox(WorldTransform wt)
{
throw new Exception("The method or operation is not implemented.");
}
public void InMove(UrbanChallenge.Common.Coordinates orig, UrbanChallenge.Common.Coordinates offset, WorldTransform t)
{
throw new Exception("The method or operation is not implemented.");
}
public void Render(System.Drawing.Graphics g, WorldTransform t)
{
//if (t.WorldLowerLeft.X < this.Position.X && t.WorldLowerLeft.Y < this.position.Y && t.WorldUpperRight.X > this.position.X && t.WorldUpperRight.Y > this.position.Y)
if (t.ShouldDraw(this.GetBoundingBox(t)))
{
Color c;
if (this.isCheckpoint && this.IsStop)
{
c = DrawingUtility.ColorArbiterWaypointStopCheckpoint;
}
else if (this.isCheckpoint)
{
c = DrawingUtility.ColorArbiterWaypointCheckpoint;
}
else if (this.IsStop)
{
c = DrawingUtility.ColorArbiterWaypointStop;
}
else
{
c = DrawingUtility.ColorArbiterWaypoint;
}
if (this.isCheckpoint && DrawingUtility.DisplayArbiterWaypointCheckpointId)
{
DrawingUtility.DrawControlPoint(this.position, DrawingUtility.ColorDisplayArbiterCheckpoint, this.checkpointId.ToString(),
ContentAlignment.TopCenter, ControlPointStyle.SmallCircle, g, t);
}
if (DrawingUtility.DisplayArbiterWaypointId)
{
DrawingUtility.DrawControlPoint(this.position, c, this.WaypointId.ToString(),
ContentAlignment.BottomCenter, ControlPointStyle.SmallCircle, g, t);
}
else
{
DrawingUtility.DrawControlPoint(this.position, c, null,
ContentAlignment.BottomCenter, ControlPointStyle.SmallCircle, g, t);
}
}
}
public void BeginMove(Coordinates orig, WorldTransform t)
{
}
public System.Drawing.RectangleF GetBoundingBox(RndfEditor.Display.Utilities.WorldTransform wt)
{
return(new RectangleF());
}
public void InMove(Coordinates orig, Coordinates offset, WorldTransform t)
{
this.position = orig + offset;
}
public RndfEditor.Display.Utilities.HitTestResult HitTest(UrbanChallenge.Common.Coordinates loc, float tol, RndfEditor.Display.Utilities.WorldTransform wt, RndfEditor.Display.Utilities.DisplayObjectFilter filter)
{
return(new HitTestResult(this, false, float.MaxValue));
}
/// <summary>
/// Constructor
/// </summary>
public RoadDisplay()
{
// create the display
InitializeComponent();
// make sure we're not in design mode
if (!this.DesignMode)
{
// initialize the tranform before calling InitializeComponent so the OnResize method works properly
transform = new WorldTransform();
// set our style
base.SetStyle(ControlStyles.UserPaint, true);
base.SetStyle(ControlStyles.AllPaintingInWmPaint, true);
base.SetStyle(ControlStyles.Opaque, true);
base.SetStyle(ControlStyles.OptimizedDoubleBuffer, true);
base.SetStyle(ControlStyles.ResizeRedraw, true);
base.SetStyle(ControlStyles.Selectable, true);
// new ai vehicle
this.aiVehicle = new AiVehicle();
// set new display objects
this.Reset();
}
}
public void Render(System.Drawing.Graphics g, WorldTransform t)
{
// wrapping helpers
foreach (Coordinates c in this.WrappingHelpers)
{
DrawingUtility.DrawControlPoint(c, DrawingUtility.ColorArbiterIntersectionWrappingHelpers,
null, System.Drawing.ContentAlignment.BottomCenter, ControlPointStyle.SmallCircle, g, t);
}
if (WrapFinal != null && WrapInitial != null)
{
// square
Polygon square = this.CreateSquarePolygon(this.WrapInitial.Value, this.WrapFinal.Value);
DrawingUtility.DrawControlPolygon(square, DrawingUtility.ColorArbiterIntersection, System.Drawing.Drawing2D.DashStyle.Solid, g, t);
// inter poly
Polygon interPoly = this.CreateIntersectionPolygon(square);
// make sure inter poly not null before continuing
if (interPoly != null)
{
DrawingUtility.DrawControlPolygon(interPoly, DrawingUtility.ColorArbiterIntersectionBoundaryPolygon, System.Drawing.Drawing2D.DashStyle.DashDotDot, g, t);
}
/*
Coordinates c0 = WrapInitial.Value;
Coordinates c1 = WrapInitial.Value + (new Coordinates(WrapFinal.Value.X - WrapInitial.Value.X, 0));
Coordinates c2 = WrapInitial.Value + (new Coordinates(0, WrapFinal.Value.Y - WrapInitial.Value.Y));
Coordinates c3 = WrapFinal.Value;
List<Coordinates> cs = new List<Coordinates>();
cs.Add(c0);
cs.Add(c1);
cs.Add(c3);
cs.Add(c2);
Polygon p = new Polygon(cs, CoordinateMode.AbsoluteProjected);
DrawingUtility.DrawColoredControlLine(DrawingUtility.ColorArbiterIntersection, System.Drawing.Drawing2D.DashStyle.Solid, c0, c1, g, t);
DrawingUtility.DrawColoredControlLine(DrawingUtility.ColorArbiterIntersection, System.Drawing.Drawing2D.DashStyle.Solid, c1, c3, g, t);
DrawingUtility.DrawColoredControlLine(DrawingUtility.ColorArbiterIntersection, System.Drawing.Drawing2D.DashStyle.Solid, c0, c2, g, t);
DrawingUtility.DrawColoredControlLine(DrawingUtility.ColorArbiterIntersection, System.Drawing.Drawing2D.DashStyle.Solid, c2, c3, g, t);
List<Coordinates> interPolygonCoords = new List<Coordinates>();
foreach (Coordinates c in this.WrappingHelpers)
{
if (p.IsInside(c))
{
interPolygonCoords.Add(c);
}
}
Console.WriteLine("Coords");
foreach (Coordinates c in interPolygonCoords)
{
Console.WriteLine(c.ToString());
}
Console.WriteLine("");
List<BoundaryLine> boundaries = ArbiterTools.IntersectionToolkit.JarvisMarch(interPolygonCoords);
List<Coordinates> newBounds = new List<Coordinates>();
if (boundaries != null)
{
foreach (BoundaryLine bl in boundaries)
{
newBounds.Add(bl.p1);
DrawingUtility.DrawColoredControlLine(DrawingUtility.ColorArbiterIntersection, System.Drawing.Drawing2D.DashStyle.DashDotDot, bl.p1, bl.p2, g, t);
}
}
if (newBounds.Count >= 3)
{
p = new Polygon(newBounds, CoordinateMode.AbsoluteProjected);
foreach (IArbiterWaypoint iaw in arn.ArbiterWaypoints.Values)
{
if (p.IsInside(iaw.Position))
{
DrawingUtility.DrawControlPoint(iaw.Position, DrawingUtility.ColorArbiterIntersection, null, System.Drawing.ContentAlignment.MiddleCenter, ControlPointStyle.SmallX, g, t);
}
}
}*/
}
}
/// <summary>
/// Renders the grid
/// </summary>
/// <param name="g"></param>
/// <param name="t"></param>
public void Render(System.Drawing.Graphics g, WorldTransform t)
{
// check if we are showinghte grid
Coordinates wll = t.WorldLowerLeft;
Coordinates wur = t.WorldUpperRight;
// sapcing
double tmpSpacing = (double)spacing;
// num x lines
double xNum = Math.Ceiling(Math.Abs(wll.X - wur.X) / tmpSpacing);
// num y lines
double yNum = Math.Ceiling(Math.Abs(wll.Y - wur.Y) / tmpSpacing);
// check length
if (xNum < 400 && yNum < 400)
{
// pen width
float pw = 1.25f / t.Scale;
// pen
using (Pen p = new Pen(color, pw))
{
// draw x lines
for (double i = Math.Floor(wll.X / tmpSpacing) * tmpSpacing; i <= Math.Ceiling(wur.X / tmpSpacing) * tmpSpacing; i += tmpSpacing)
{
g.DrawLine(p, DrawingUtility.ToPointF(new Coordinates(i, wur.Y)), DrawingUtility.ToPointF(new Coordinates(i, wll.Y)));
}
// draw y lines
for (double j = Math.Floor(wll.Y / tmpSpacing) * tmpSpacing; j <= Math.Ceiling(wur.Y / tmpSpacing) * tmpSpacing; j += tmpSpacing)
{
g.DrawLine(p, DrawingUtility.ToPointF(new Coordinates(wll.X, j)), DrawingUtility.ToPointF(new Coordinates(wur.X, j)));
}
}
}
/*PointF ll = new PointF((float)wll.X, (float)wll.Y);
PointF ur = new PointF((float)wur.X, (float)wur.Y);
float startX = (float)Math.Floor(wll.X / spacing) * spacing;
float endX = (float)Math.Ceiling(wur.X / spacing) * spacing;
float startY = (float)Math.Floor(wll.Y / spacing) * spacing;
float endY = (float)Math.Ceiling(wur.Y / spacing) * spacing;
using (Pen p = new Pen(color, 1 / t.Scale))
{
if (endX - startX / spacing < 400 && endY - startY / spacing < 400)
{
for (float x = startX; x <= endX; x += spacing)
{
g.DrawLine(p, x, ll.Y, x, ur.Y);
}
for (float y = startY; y <= endY; y += spacing)
{
g.DrawLine(p, ll.X, y, ur.X, y);
}
}
}*/
}
public HitTestResult HitTest(UrbanChallenge.Common.Coordinates loc, float tol, WorldTransform wt, DisplayObjectFilter filter)
{
if (filter(this))
{
Coordinates closest = this.GetClosest(loc);
if ((float)loc.DistanceTo(closest) < 5 + tol)
{
return new HitTestResult(this, true, (float)loc.DistanceTo(closest));
}
}
return new HitTestResult(this, false, float.MaxValue);
}
public void CancelMove(UrbanChallenge.Common.Coordinates orig, WorldTransform t)
{
this.position = orig;
}
/// <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 HitTestResult HitTest(UrbanChallenge.Common.Coordinates loc, float tol, WorldTransform wt, DisplayObjectFilter filter)
{
// check filter
if (filter.Target == null || filter.Target is ArbiterParkingSpotWaypoint)
{
// get bounding box dependent on tolerance
RectangleF bounding = this.GetBoundingBox(wt);
bounding.Inflate(tol, tol);
// check if contains point
if (bounding.Contains(DrawingUtility.ToPointF(loc)))
{
return new HitTestResult(this, true, (float)loc.DistanceTo(this.Position));
}
}
return new HitTestResult(this, false, float.MaxValue);
}
public override void CancelMove(UrbanChallenge.Common.Coordinates orig, RndfEditor.Display.Utilities.WorldTransform t)
{
throw new Exception("The method or operation is not implemented.");
}
public void Render(System.Drawing.Graphics g, WorldTransform t)
{
Color c;
if (selected == SelectionType.SingleSelected)
c = DrawingUtility.ColorArbiterParkingSpotWaypointSelected;
else if (this.isCheckpoint)
c = DrawingUtility.ColorArbiterParkingSpotWaypointCheckpoint;
else
c = DrawingUtility.ColorArbiterParkingSpotWaypoint;
if (DrawingUtility.DisplayArbiterWaypointCheckpointId && this.isCheckpoint)
{
DrawingUtility.DrawControlPoint(this.position, DrawingUtility.ColorDisplayArbiterCheckpoint, this.checkpointId.ToString(),
ContentAlignment.TopCenter, ControlPointStyle.SmallCircle, g, t);
}
if (DrawingUtility.DisplayArbiterParkingSpotWaypointId)
{
DrawingUtility.DrawControlPoint(this.position, c, this.WaypointId.ToString(),
ContentAlignment.BottomCenter, ControlPointStyle.SmallCircle, g, t);
}
else
{
DrawingUtility.DrawControlPoint(this.position, c, null,
ContentAlignment.BottomCenter, ControlPointStyle.SmallCircle, g, t);
}
}
public override void BeginMove(UrbanChallenge.Common.Coordinates orig, RndfEditor.Display.Utilities.WorldTransform t)
{
}
public HitTestResult HitTest(UrbanChallenge.Common.Coordinates loc, float tol, WorldTransform wt, DisplayObjectFilter filter)
{
return new HitTestResult(this, false, float.MaxValue);
}
public override void CancelMove(UrbanChallenge.Common.Coordinates orig, RndfEditor.Display.Utilities.WorldTransform t)
{
this.VehicleState.Position = orig;
}
public void Render(System.Drawing.Graphics g, WorldTransform t)
{
DrawingUtility.DrawColoredControlLine(DrawingUtility.ColorArbiterUserPartition, System.Drawing.Drawing2D.DashStyle.Dash,
this.InitialGeneric.Position, this.FinalGeneric.Position, g, t);
}
public void Render(System.Drawing.Graphics g, WorldTransform t)
{
if (this.trackedCluster.targetClass == SceneEstimatorTargetClass.TARGET_CLASS_CARLIKE)
{
bool clusterStopped = this.trackedCluster.isStopped;
bool occluded = ((this.trackedCluster.statusFlag == SceneEstimatorTargetStatusFlag.TARGET_STATE_OCCLUDED_FULL && clusterStopped) ||
(this.trackedCluster.statusFlag == SceneEstimatorTargetStatusFlag.TARGET_STATE_OCCLUDED_PART && clusterStopped));
Color c = this.trackedCluster.statusFlag == SceneEstimatorTargetStatusFlag.TARGET_STATE_ACTIVE ?
DrawingUtility.ColorSimTrafficCar :
DrawingUtility.ColorSimDeletedCar;
if(occluded)
c = Color.Chocolate;
else if ((this.trackedCluster.statusFlag == SceneEstimatorTargetStatusFlag.TARGET_STATE_OCCLUDED_FULL && !clusterStopped) ||
(this.trackedCluster.statusFlag == SceneEstimatorTargetStatusFlag.TARGET_STATE_OCCLUDED_PART && !clusterStopped))
{
occluded = true;
c = Color.DarkOrange;
}
if (this.trackedCluster.statusFlag == SceneEstimatorTargetStatusFlag.TARGET_STATE_ACTIVE
&& this.trackedCluster.isStopped && this.trackedCluster.speedValid)
c = Color.Red;
else if (this.trackedCluster.statusFlag == SceneEstimatorTargetStatusFlag.TARGET_STATE_ACTIVE
&& this.trackedCluster.isStopped && !this.trackedCluster.speedValid)
c = Color.SkyBlue;
bool draw = this.trackedCluster.statusFlag == SceneEstimatorTargetStatusFlag.TARGET_STATE_ACTIVE || occluded ?
DrawingUtility.DrawSimCars :
DrawingUtility.DrawSimCars && DrawingUtility.DrawSimCarDeleted;
if (draw)
{
Coordinates heading = (new Coordinates(1,0)).Rotate(this.trackedCluster.absoluteHeading).Normalize(3.0);
Coordinates headingCoord = this.trackedCluster.closestPoint + heading;
if(trackedCluster.headingValid)
DrawingUtility.DrawColoredControlLine(Color.Blue, DashStyle.Solid, this.trackedCluster.closestPoint, headingCoord, g, t);
if (DrawingUtility.DrawSimCarId)
{
DrawingUtility.DrawControlPoint(
this.trackedCluster.closestPoint,
c,
this.trackedCluster.id.ToString(),
ContentAlignment.TopLeft,
ControlPointStyle.LargeBox,
g, t);
DrawingUtility.DrawControlPoint(
this.trackedCluster.closestPoint,
c,
this.trackedCluster.speed.ToString("f1"),
ContentAlignment.BottomLeft,
ControlPointStyle.LargeBox,
g, t);
DrawingUtility.DrawControlPoint(
this.trackedCluster.closestPoint,
c,
this.PartitionIdString(),
ContentAlignment.BottomRight,
ControlPointStyle.LargeBox,
g, t);
}
else
{
DrawingUtility.DrawControlPoint(
this.trackedCluster.closestPoint,
c,
null,
ContentAlignment.MiddleCenter,
ControlPointStyle.LargeBox,
g, t);
}
}
}
}