/// <summary>
/// Vykreslení limitních čar pro otáčení nohy
/// </summary>
/// <param name="g">grafika</param>
/// <param name="mid">střed otáčení nohy</param>
/// <param name="rotation">rotace ve stupnich</param>
private void legLimitLinePaint(Graphics g, Point mid, int rotation)
{
Point startPoint = MathLibrary.getPointOnLine(mid.X, mid.Y, rotation, baseWidth / 12);
Point endPoint = MathLibrary.getPointOnLine(mid.X, mid.Y, rotation, baseWidth / 2);
Pen pen = new Pen(Color.Black, 2);
pen.DashStyle = DashStyle.Dot;
g.DrawLine(pen, startPoint, endPoint);
}
/// <summary>
/// Callback pro změnu stavu páčky gamepadu pro přímý pohyb
/// </summary>
/// <param name="x">x souřadnice joysticku od -100 do 100</param>
/// <param name="y">y souřadnice joysticku od -100 do 100</param>
private void joystickDirectMoveChanged(int x, int y)
{
Point corectedPoint = MathLibrary.convertPointToCircle(x, y, 0, 0, 101);
moveRobot(corectedPoint.X, corectedPoint.Y);
if (!(joystick is MainWindow))
{
controllView.moveDirectMoveJoystick(corectedPoint.X, corectedPoint.Y);
}
}
/// <summary>
/// Vykreslení konce šipky kol znázorňující pohyb
/// </summary>
/// <param name="g">grafika</param>
/// <param name="mid">střed kola</param>
/// <param name="rotation">rotace kola ve stupnich</param>
/// <param name="circleWidth">průměr kola</param>
/// <param name="speed">rychlost pohybu kola</param>
private void endOfArrowPaint(Graphics g, Point mid, int rotation, int circleWidth, int speed)
{
Point endPointArrow = MathLibrary.getPointOnLine(mid.X, mid.Y, rotation, circleWidth * 3 + (speed / 5) + 4 - 20);
Point arrowLeftPoint = MathLibrary.getPointOnLine(mid.X, mid.Y, rotation - 15, circleWidth * 2 + (speed / 5) - 20);
Point arrowRightPoint = MathLibrary.getPointOnLine(mid.X, mid.Y, rotation + 15, circleWidth * 2 + (speed / 5) - 20);
Point[] triangl = new Point[3];
triangl[0] = endPointArrow;
triangl[1] = arrowLeftPoint;
triangl[2] = arrowRightPoint;
g.FillPolygon(Brushes.Orange, triangl);
}
private void joystickMouseMoveHandler(MouseEventArgs e, Point location, PictureBox box, Action <int, int> stickObserver)
{
if (MathLibrary.isPointInCircle(e.X, e.Y, joystickR, joystickR, joystickR))
{
location = e.Location;
box.Invalidate();
if (enabledStick)
{
stickObserver((int)Math.Floor((e.X - joystickR) / ((double)joystickR / 100)), (int)Math.Floor((e.Y - joystickR) / ((double)joystickR / 100)));
}
}
else
{
Cursor.Position = box.PointToScreen(MathLibrary.convertPointToCircle(e.X, e.Y, joystickR, joystickR, joystickR - 2));
}
}
private void panelForJoystick_MouseDown(object sender, MouseEventArgs e)
{
if (e.Button == MouseButtons.Left)
{
if (MathLibrary.isPointInCircle(e.X, e.Y, joystickR, joystickR, joystickR))
{
Cursor.Hide();
if (sender.Equals(panelForDirectMoveJoystick))
{
joystickMouseDownHandler(e, stickDirectMoveLocation, panelForDirectMoveJoystick, stickDirectMoveObserver);
}
else
{
joystickMouseDownHandler(e, stickMoveLocation, panelForMoveJoystick, stickMoveObserver);
}
}
}
}
/// <summary>
/// Vykreslení šipky kol znázorňující pohyb
/// </summary>
/// <param name="g">grafika</param>
/// <param name="mid">střed kola</param>
/// <param name="rotation">rotace kola ve stupnich</param>
/// <param name="circleWidth">průměr kola</param>
/// <param name="speed">rychlost pohybu kola</param>
/// <param name="front">příznak zda se jedná o šipku pro pohyb dopředu</param>
private void arrowPaint(Graphics g, Point mid, int rotation, int circleWidth, int speed, bool front)
{
Color color = Color.Black;
if (speed > 0)
{
color = Color.Orange;
endOfArrowPaint(g, mid, rotation, circleWidth, speed);
}
else if (front)
{
color = Color.Red;
}
Point startPoint = MathLibrary.getPointOnLine(mid.X, mid.Y, rotation, circleWidth - 1);
Point endPoint = MathLibrary.getPointOnLine(mid.X, mid.Y, rotation, circleWidth * 3 + (speed / 5) - 20);
g.DrawLine(new Pen(color, 4), startPoint, endPoint);
}
/// <summary>
/// Pohne s robotem v daném rádiusu
/// </summary>
/// <param name="x">x souřadnice joysticku od -100 do 100</param>
/// <param name="y">y souřadnice joysticku od -100 do 100</param>
private void moveRobotInRadius(int x, int y)
{
double radiusCircleDistance = x;
if (radiusCircleDistance > 5 || radiusCircleDistance < -5)
{
radiusCircleDistance = MathLibrary.changeScaleLog(radiusCircleDistance, 0, Math.Sign(radiusCircleDistance) * 100, Math.Sign(radiusCircleDistance) * 2000, Math.Sign(radiusCircleDistance) * 60);
}
else
{
radiusCircleDistance = 99999;
}
double speed = MathLibrary.getPointsDistance(0, 0, x, y);
if (y > 0)
{
speed = -speed;
}
robot.moveInRadius(radiusCircleDistance, speed);
}
/// <summary>
/// Vykreslení celého nohy robota
/// </summary>
/// <param name="e">Paint event</param>
/// <param name="Z">zdvih</param>
/// <param name="ZK">rotace nohy</param>
/// <param name="R">rotace kola</param>
/// <param name="P">rychlost kola</param>
/// <param name="xC">korelace umístění na x souřadnici (-1,1)</param>
/// <param name="yC">korelace umístění na y souřadnici (-1,1)</param>
/// <param name="rC">korelace otočení nohy ve stupních</param>
private void legPaint(PaintEventArgs e, int Z, int ZK, int R, int P, int xC, int yC, int rC)
{
var g = e.Graphics;
g.SmoothingMode = SmoothingMode.AntiAlias;
Pen pen = new Pen(Color.LightSlateGray, 8 + ((-1) * Z / 10));
Point firstPoint = new Point(canvasMid.X + ((baseWidth / 2) * xC), canvasMid.Y + ((baseWidth / 2) * yC));
Point secondPoint = MathLibrary.getPointOnLine(canvasMid.X + ((baseWidth / 2) * xC), canvasMid.Y + ((baseWidth / 2) * yC), ZK + rC, baseWidth);
g.DrawLine(pen, firstPoint, secondPoint);
bool reverse = false;
if (xC * yC > 0)
{
reverse = true;
}
wheelPaint(g, secondPoint, ZK + rC - R + 93, P, reverse);
legLimitLinePaint(g, firstPoint, rC - 45);
legLimitLinePaint(g, firstPoint, rC + 45);
wheelLimitLinePaint(g, secondPoint, ZK + rC - 180);
wheelLimitLinePaint(g, secondPoint, ZK + rC - xC * yC * 90);
}
/// <summary>
/// Pohne s robotem směrem a rychlostí podle dané polohy joysticku
/// </summary>
/// <param name="x">x souřadnice od -100 do 100</param>
/// <param name="y">y souřadnice od -100 do 100</param>
private void moveRobot(int x, int y)
{
int angle = (int)MathLibrary.getAngle(0, 0, 100, 0, x, y);
robot.move(angle, (int)MathLibrary.getPointsDistance(0, 0, x, y));
}
