public void InitOpponent(int robotId, string name)
{
PolygonExtended robotShape = new PolygonExtended();
for (int i = 0; i < 7; i++)
{
robotShape.polygon.Points.Add(new System.Windows.Point(0.25 * Math.Cos(i * 2 * Math.PI / 6), 0.25 * Math.Sin(i * 2 * Math.PI / 6)));
}
robotShape.borderColor = Color.Black;
robotShape.backgroundColor = Color.FromArgb(255, 200, 0, 0);
PolygonExtended ghostShape = new PolygonExtended();
for (int i = 0; i < 7; i++)
{
ghostShape.polygon.Points.Add(new System.Windows.Point(0.27 * Math.Cos(i * 2 * Math.PI / 6), 0.27 * Math.Sin(i * 2 * Math.PI / 6)));
}
ghostShape.backgroundColor = System.Drawing.Color.FromArgb(20, 0, 255, 0);
ghostShape.borderColor = System.Drawing.Color.Black;
RobotDisplay rd = new RobotDisplay(robotShape, ghostShape, name);
rd.SetLocation(new Location(0, 0, 0, 0, 0, 0));
OpponentDisplayDictionary.Add(robotId, rd);
}
public MainWindow()
{
InitializeComponent();
WorldMap.Init(3.4, 2.4, 3, 2, @"C:\\GITHUB\\RoboCup2020\\C#\\Images\\Eurobot2020.png");
PolygonExtended robotShape = new PolygonExtended();
robotShape.polygon.Points.Add(new System.Windows.Point(-0.14, -0.18));
robotShape.polygon.Points.Add(new System.Windows.Point(0.14, -0.18));
robotShape.polygon.Points.Add(new System.Windows.Point(0.10, 0));
robotShape.polygon.Points.Add(new System.Windows.Point(0.14, 0.18));
robotShape.polygon.Points.Add(new System.Windows.Point(-0.14, 0.18));
robotShape.polygon.Points.Add(new System.Windows.Point(-0.14, -0.18));
robotShape.borderColor = System.Drawing.Color.Blue;
robotShape.backgroundColor = System.Drawing.Color.Red;
PolygonExtended ghostShape = new PolygonExtended();
ghostShape.polygon.Points.Add(new Point(-0.16, -0.2));
ghostShape.polygon.Points.Add(new Point(0.16, -0.2));
ghostShape.polygon.Points.Add(new Point(0.12, 0));
ghostShape.polygon.Points.Add(new Point(0.16, 0.2));
ghostShape.polygon.Points.Add(new Point(-0.16, 0.2));
ghostShape.polygon.Points.Add(new Point(-0.16, -0.2));
ghostShape.backgroundColor = System.Drawing.Color.FromArgb(20, 0, 255, 0);
ghostShape.borderColor = System.Drawing.Color.Black;
WorldMap.SetRobotShape(robotShape);
WorldMap.SetGhostShape(ghostShape);
timerTestPosition = new Timer(100);
timerTestPosition.Elapsed += TimerTestPosition_Elapsed;
timerTestPosition.Start();
}
public PolygonExtended GetRobotSpeedArrow()
{
PolygonExtended polygonToDisplay = new PolygonExtended();
double angleTeteFleche = Math.PI / 6;
double longueurTeteFleche = 0.30;
double LongueurFleche = Math.Sqrt(robotLocation.Vx * robotLocation.Vx + robotLocation.Vy * robotLocation.Vy);
double headingAngle = Math.Atan2(robotLocation.Vy, robotLocation.Vx) + robotLocation.Theta;
double xTete = LongueurFleche * Math.Cos(headingAngle);
double yTete = LongueurFleche * Math.Sin(headingAngle);
polygonToDisplay.polygon.Points.Add(new Point(robotLocation.X, robotLocation.Y));
polygonToDisplay.polygon.Points.Add(new Point(robotLocation.X + xTete, robotLocation.Y + yTete));
double angleTeteFleche1 = headingAngle + angleTeteFleche;
double angleTeteFleche2 = headingAngle - angleTeteFleche;
polygonToDisplay.polygon.Points.Add(new Point(robotLocation.X + xTete - longueurTeteFleche * Math.Cos(angleTeteFleche1), robotLocation.Y + yTete - longueurTeteFleche * Math.Sin(angleTeteFleche1)));
polygonToDisplay.polygon.Points.Add(new Point(robotLocation.X + xTete, robotLocation.Y + yTete));
polygonToDisplay.polygon.Points.Add(new Point(robotLocation.X + xTete - longueurTeteFleche * Math.Cos(angleTeteFleche2), robotLocation.Y + yTete - longueurTeteFleche * Math.Sin(angleTeteFleche2)));
polygonToDisplay.polygon.Points.Add(new Point(robotLocation.X + xTete, robotLocation.Y + yTete));
polygonToDisplay.borderWidth = 2;
polygonToDisplay.borderColor = System.Drawing.Color.FromArgb(0xFF, 0xFF, 0x00, 0x00);
polygonToDisplay.borderDashPattern = new double[] { 3, 3 };
polygonToDisplay.borderOpacity = 1;
polygonToDisplay.backgroundColor = System.Drawing.Color.FromArgb(0x00, 0x00, 0x00, 0x00);
return(polygonToDisplay);
}
public void InitTeamMate(int robotId, string name)
{
PolygonExtended robotShape = new PolygonExtended();
robotShape.polygon.Points.Add(new System.Windows.Point(-0.25, -0.25));
robotShape.polygon.Points.Add(new System.Windows.Point(0.25, -0.25));
robotShape.polygon.Points.Add(new System.Windows.Point(0.2, 0));
robotShape.polygon.Points.Add(new System.Windows.Point(0.25, 0.25));
robotShape.polygon.Points.Add(new System.Windows.Point(-0.25, 0.25));
robotShape.polygon.Points.Add(new System.Windows.Point(-0.25, -0.25));
robotShape.borderColor = Color.Black;
robotShape.backgroundColor = Color.FromArgb(255, 0, 0, 200);
PolygonExtended ghostShape = new PolygonExtended();
ghostShape.polygon.Points.Add(new System.Windows.Point(-0.27, -0.27));
ghostShape.polygon.Points.Add(new System.Windows.Point(0.27, -0.27));
ghostShape.polygon.Points.Add(new System.Windows.Point(0.22, 0.02));
ghostShape.polygon.Points.Add(new System.Windows.Point(0.27, 0.27));
ghostShape.polygon.Points.Add(new System.Windows.Point(-0.27, 0.27));
ghostShape.polygon.Points.Add(new System.Windows.Point(-0.27, -0.27));
ghostShape.backgroundColor = System.Drawing.Color.FromArgb(20, 0, 255, 0);
ghostShape.borderColor = System.Drawing.Color.Black;
RobotDisplay rd = new RobotDisplay(robotShape, ghostShape, name);
rd.SetLocation(new Location(0, 0, 0, 0, 0, 0));
TeamMatesDisplayDictionary.Add(robotId, rd);
}
public PolygonExtended GetRobotDestinationArrow()
{
PolygonExtended polygonToDisplay = new PolygonExtended();
if (destinationLocation == null)
{
return(polygonToDisplay);
}
double angleTeteFleche = Math.PI / 6;
double longueurTeteFleche = 0.10;
double headingAngle = Math.Atan2(destinationLocation.Y - robotLocation.Y, destinationLocation.X - robotLocation.X);
double LongeurFleche = Math.Sqrt(Math.Pow(destinationLocation.X - robotLocation.X, 2.0) + Math.Pow(destinationLocation.Y - robotLocation.Y, 2.0));
if (LongeurFleche >= 0.100)
{
polygonToDisplay.polygon.Points.Add(new Point(robotLocation.X, robotLocation.Y));
polygonToDisplay.polygon.Points.Add(new Point(destinationLocation.X, destinationLocation.Y));
double angleTeteFleche1 = headingAngle + angleTeteFleche;
double angleTeteFleche2 = headingAngle - angleTeteFleche;
polygonToDisplay.polygon.Points.Add(new Point(destinationLocation.X - longueurTeteFleche * Math.Cos(angleTeteFleche1), destinationLocation.Y - longueurTeteFleche * Math.Sin(angleTeteFleche1)));
polygonToDisplay.polygon.Points.Add(new Point(destinationLocation.X, destinationLocation.Y));
polygonToDisplay.polygon.Points.Add(new Point(destinationLocation.X - longueurTeteFleche * Math.Cos(angleTeteFleche2), destinationLocation.Y - longueurTeteFleche * Math.Sin(angleTeteFleche2)));
polygonToDisplay.polygon.Points.Add(new Point(destinationLocation.X, destinationLocation.Y));
polygonToDisplay.borderWidth = 3;
polygonToDisplay.borderColor = System.Drawing.Color.FromArgb(0xFF, 0x00, 0x00, 0xFF);
polygonToDisplay.borderOpacity = 0.8;
polygonToDisplay.backgroundColor = System.Drawing.Color.FromArgb(0x00, 0x00, 0x00, 0x00);
}
return(polygonToDisplay);
}
public RobotDisplay(PolygonExtended pe, System.Drawing.Color color, double transparency)
{
location = new Location(0, 0, 0, 0, 0, 0);
destinationLocation = new Location(0, 0, 0, 0, 0, 0);
waypointLocation = new Location(0, 0, 0, 0, 0, 0);
shape = pe;
lidarMap = new List <PointD>();
displayTransparency = (int)(transparency * 255);
displayColor = System.Drawing.Color.FromArgb((byte)displayTransparency, color.R, color.G, color.B);
}
public void AddOrUpdatePolygonExtended(int id, PolygonExtended p)
{
if (polygonList.ContainsKey(id))
{
polygonList[id] = p;
}
else
{
polygonList.Add(id, p);
}
}
public RobotDisplay(PolygonExtended rbtShape, PolygonExtended ghstShape, string name)
{
robotLocation = new Location(0, 0, 0, 0, 0, 0);
destinationLocation = new Location(0, 0, 0, 0, 0, 0);
waypointLocation = new List <PointD> {
};
ghostLocation = new Location(0, 0, 0, 0, 0, 0);
robotShape = rbtShape;
ghostShape = ghstShape;
robotName = name;
ballLocationList = new List <Location>();
}
public PolygonExtended GetRobotWaypointArrow()
{
PolygonExtended polygonToDisplay = new PolygonExtended();
double angleTeteFleche = Math.PI / 6;
double longueurTeteFleche = 0.10;
polygonToDisplay.borderWidth = 2;
polygonToDisplay.borderColor = System.Drawing.Color.FromArgb(0xFF, 0xFF, 0xFF, 0xFF);
polygonToDisplay.borderDashPattern = new double[] { 5, 5 };
polygonToDisplay.borderOpacity = 0.8;
polygonToDisplay.backgroundColor = System.Drawing.Color.FromArgb(0x00, 0x00, 0x00, 0x00);
if (waypointLocation.Count == 0)
{
return(polygonToDisplay);
}
PointD lastLocation = waypointLocation[0];
PointD bfLastLocation = new PointD(robotLocation.X, robotLocation.Y);
polygonToDisplay.polygon.Points.Add(new Point(robotLocation.X, robotLocation.Y));
polygonToDisplay.polygon.Points.Add(new Point(waypointLocation[0].X, waypointLocation[0].Y));
if (waypointLocation.Count > 1)
{
lastLocation = waypointLocation[waypointLocation.Count - 1];
bfLastLocation = waypointLocation[waypointLocation.Count - 2];
int i;
for (i = 1; i < waypointLocation.Count; i++)
{
polygonToDisplay.polygon.Points.Add(new Point(waypointLocation[i].X, waypointLocation[i].Y));
}
}
double headingAngle = Math.Atan2(lastLocation.Y - bfLastLocation.Y, lastLocation.X - bfLastLocation.X);
double angleTeteFleche1 = headingAngle + angleTeteFleche;
double angleTeteFleche2 = headingAngle - angleTeteFleche;
polygonToDisplay.polygon.Points.Add(new Point(lastLocation.X - longueurTeteFleche * Math.Cos(angleTeteFleche1), lastLocation.Y - longueurTeteFleche * Math.Sin(angleTeteFleche1)));
polygonToDisplay.polygon.Points.Add(new Point(lastLocation.X, lastLocation.Y));
polygonToDisplay.polygon.Points.Add(new Point(lastLocation.X - longueurTeteFleche * Math.Cos(angleTeteFleche2), lastLocation.Y - longueurTeteFleche * Math.Sin(angleTeteFleche2)));
polygonToDisplay.polygon.Points.Add(new Point(lastLocation.X, lastLocation.Y));
return(polygonToDisplay);
}
public void InitRobot()
{
PolygonExtended robotShape = new PolygonExtended();
robotShape.polygon.Points.Add(new Point(-0.15, -0.15));
robotShape.polygon.Points.Add(new Point(0.15, -0.15));
robotShape.polygon.Points.Add(new Point(0.15, -0.05));
robotShape.polygon.Points.Add(new Point(0.25, 0));
robotShape.polygon.Points.Add(new Point(0.15, 0.05));
robotShape.polygon.Points.Add(new Point(0.15, 0.15));
robotShape.polygon.Points.Add(new Point(-0.15, 0.15));
robotShape.polygon.Points.Add(new Point(-0.15, -0.15));
RobotDisplay = new RobotDisplay(robotShape, System.Drawing.Color.Red, 1);
RobotDisplay.SetPosition(0, 0, 0);
}
public void InitOpponent(int robotId)
{
PolygonExtended robotShape = new PolygonExtended();
robotShape.polygon.Points.Add(new Point(-0.25, -0.25));
robotShape.polygon.Points.Add(new Point(0.25, -0.25));
robotShape.polygon.Points.Add(new Point(0.2, 0));
robotShape.polygon.Points.Add(new Point(0.25, 0.25));
robotShape.polygon.Points.Add(new Point(-0.25, 0.25));
robotShape.polygon.Points.Add(new Point(-0.25, -0.25));
RobotDisplay rd = new RobotDisplay(robotShape, System.Drawing.Color.Blue, 1);
rd.SetPosition(0, 0, 0);
OpponentDisplayDictionary.Add(robotId, rd);
}
public void InitGhost()
{
PolygonExtended robotShape = new PolygonExtended();
robotShape.polygon.Points.Add(new Point(-0.15, -0.15));
robotShape.polygon.Points.Add(new Point(0.15, -0.15));
robotShape.polygon.Points.Add(new Point(0.15, -0.05));
robotShape.polygon.Points.Add(new Point(0.25, 0));
robotShape.polygon.Points.Add(new Point(0.15, 0.05));
robotShape.polygon.Points.Add(new Point(0.15, 0.15));
robotShape.polygon.Points.Add(new Point(-0.15, 0.15));
robotShape.polygon.Points.Add(new Point(-0.15, -0.15));
GhostDisplay = new RobotDisplay(robotShape, System.Drawing.Color.DarkSlateGray, 0.4);
GhostDisplay.SetPosition(0, 0, 0);
}
public List <PolygonExtended> GetRobotLidarObjects()
{
var polygonExtendedList = new List <PolygonExtended>();
if (this.lidarObjectList == null)
{
return(polygonExtendedList);
}
foreach (var obj in this.lidarObjectList)
{
PolygonExtended polygonToDisplay = new PolygonExtended();
foreach (var pt in obj.polarPointList)
{
polygonToDisplay.polygon.Points.Add(new Point(robotLocation.X + pt.Distance * Math.Cos(pt.Angle + robotLocation.Theta), robotLocation.Y + pt.Distance * Math.Sin(pt.Angle + robotLocation.Theta)));
}
//Cas des polygones à un seul point (objets représentés par leur centre :
//on trace un second point juste à coté
if (obj.polarPointList.Count == 1)
{
Point pt = polygonToDisplay.polygon.Points[0];
polygonToDisplay.polygon.Points.Add(new Point(pt.X + 0.001, pt.Y + 0.001));
}
switch (obj.type)
{
case ObjectType.Obstacle:
polygonToDisplay.borderColor = System.Drawing.Color.Red;
polygonToDisplay.borderWidth = 2;
polygonToDisplay.backgroundColor = System.Drawing.Color.Yellow;
break;
case ObjectType.Balle:
polygonToDisplay.borderColor = System.Drawing.Color.Black;
polygonToDisplay.borderWidth = 2;
polygonToDisplay.backgroundColor = System.Drawing.Color.Yellow;
break;
default:
polygonToDisplay.borderColor = System.Drawing.Color.Black;
polygonToDisplay.borderWidth = 2;
polygonToDisplay.backgroundColor = System.Drawing.Color.LightBlue;
break;
}
polygonExtendedList.Add(polygonToDisplay);
}
return(polygonExtendedList);
}
public PolygonExtended GetRobotGhostPolygon()
{
PolygonExtended polygonToDisplay = new PolygonExtended();
foreach (var pt in ghostShape.polygon.Points)
{
Point polyPt = new Point(pt.X * Math.Cos(ghostLocation.Theta) - pt.Y * Math.Sin(ghostLocation.Theta), pt.X * Math.Sin(ghostLocation.Theta) + pt.Y * Math.Cos(ghostLocation.Theta));
polyPt.X += ghostLocation.X;
polyPt.Y += ghostLocation.Y;
polygonToDisplay.polygon.Points.Add(polyPt);
polygonToDisplay.backgroundColor = ghostShape.backgroundColor;
polygonToDisplay.borderColor = ghostShape.borderColor;
polygonToDisplay.borderWidth = ghostShape.borderWidth;
}
return(polygonToDisplay);
}
public PolygonExtended GetRobotWaypointArrow()
{
PolygonExtended polygonToDisplay = new PolygonExtended();
double angleTeteFleche = Math.PI / 6;
double longueurTeteFleche = 0.30;
double headingAngle = Math.Atan2(waypointLocation.Y - robotLocation.Y, waypointLocation.X - robotLocation.X);
polygonToDisplay.polygon.Points.Add(new Point(robotLocation.X, robotLocation.Y));
polygonToDisplay.polygon.Points.Add(new Point(waypointLocation.X, waypointLocation.Y));
double angleTeteFleche1 = headingAngle + angleTeteFleche;
double angleTeteFleche2 = headingAngle - angleTeteFleche;
polygonToDisplay.polygon.Points.Add(new Point(waypointLocation.X - longueurTeteFleche * Math.Cos(angleTeteFleche1), waypointLocation.Y - longueurTeteFleche * Math.Sin(angleTeteFleche1)));
polygonToDisplay.polygon.Points.Add(new Point(waypointLocation.X, waypointLocation.Y));
polygonToDisplay.polygon.Points.Add(new Point(waypointLocation.X - longueurTeteFleche * Math.Cos(angleTeteFleche2), waypointLocation.Y - longueurTeteFleche * Math.Sin(angleTeteFleche2)));
polygonToDisplay.polygon.Points.Add(new Point(waypointLocation.X, waypointLocation.Y));
return(polygonToDisplay);
}
public PolygonExtended GetBallPolygon()
{
PolygonExtended polygonToDisplay = new PolygonExtended();
if (location != null)
{
int nbSegments = 10;
double radius = 0.4;
for (double theta = 0; theta <= Math.PI * 2; theta += Math.PI * 2 / nbSegments)
{
Point pt = new Point(radius * Math.Cos(theta), radius * Math.Sin(theta));
pt.X += location.X;
pt.Y += location.Y;
polygonToDisplay.polygon.Points.Add(pt);
polygonToDisplay.backgroundColor = backgroundColor;
polygonToDisplay.borderColor = borderColor;
polygonToDisplay.borderWidth = borderWidth;
}
}
return(polygonToDisplay);
}
public RobotDisplay(PolygonExtended rbtShape, PolygonExtended ghstShape, string name)
{
robotLocation = new Location(0, 0, 0, 0, 0, 0);
destinationLocation = new Location(0, 0, 0, 0, 0, 0);
waypointLocation = new Location(0, 0, 0, 0, 0, 0);
ghostLocation = new Location(0, 0, 0, 0, 0, 0);
robotShape = rbtShape;
ghostShape = ghstShape;
robotName = name;
lidarMap = new List <PointDExtended>();
for (int i = 0; i < lidarProcessedMaps.Count(); i++)
{
lidarProcessedMaps[i] = new List <PointDExtended>();
}
//lidarProcessedMap1 = new List<PointD>();
//lidarProcessedMap2 = new List<PointD>();
//lidarProcessedMap3 = new List<PointD>();
ballLocationList = new List <Location>();
lidarSegmentList = new List <SegmentExtended>();
}
public List <PolygonExtended> GetRobotLidarObjects()
{
var polygonExtendedList = new List <PolygonExtended>();
if (this.lidarObjectList == null)
{
return(polygonExtendedList);
}
foreach (var obj in this.lidarObjectList)
{
PolygonExtended polygonToDisplay = new PolygonExtended();
foreach (var pt in obj.polarPointList)
{
polygonToDisplay.polygon.Points.Add(new Point(location.X + pt.Distance * Math.Cos(pt.Angle), location.Y + pt.Distance * Math.Sin(pt.Angle)));
}
polygonToDisplay.borderColor = obj.displayColor;
polygonToDisplay.borderWidth = (float)obj.displayWidth;
polygonToDisplay.backgroundColor = obj.displayColor;
polygonExtendedList.Add(polygonToDisplay);
}
return(polygonExtendedList);
}
public PolygonExtended GetRobotDestinationArrow()
{
PolygonExtended polygonToDisplay = new PolygonExtended();
double angleTeteFleche = Math.PI / 6;
double longueurTeteFleche = 0.30;
double headingAngle = Math.Atan2(destinationLocation.Y - robotLocation.Y, destinationLocation.X - robotLocation.X);
polygonToDisplay.polygon.Points.Add(new Point(robotLocation.X, robotLocation.Y));
polygonToDisplay.polygon.Points.Add(new Point(destinationLocation.X, destinationLocation.Y));
double angleTeteFleche1 = headingAngle + angleTeteFleche;
double angleTeteFleche2 = headingAngle - angleTeteFleche;
polygonToDisplay.polygon.Points.Add(new Point(destinationLocation.X - longueurTeteFleche * Math.Cos(angleTeteFleche1), destinationLocation.Y - longueurTeteFleche * Math.Sin(angleTeteFleche1)));
polygonToDisplay.polygon.Points.Add(new Point(destinationLocation.X, destinationLocation.Y));
polygonToDisplay.polygon.Points.Add(new Point(destinationLocation.X - longueurTeteFleche * Math.Cos(angleTeteFleche2), destinationLocation.Y - longueurTeteFleche * Math.Sin(angleTeteFleche2)));
polygonToDisplay.polygon.Points.Add(new Point(destinationLocation.X, destinationLocation.Y));
polygonToDisplay.borderWidth = 5;
polygonToDisplay.borderColor = System.Drawing.Color.FromArgb(0xFF, 0xFF, 0xFF, 0xFF);
polygonToDisplay.borderDashPattern = new double[] { 5, 5 };
polygonToDisplay.borderOpacity = 0.4;
polygonToDisplay.backgroundColor = System.Drawing.Color.FromArgb(0x00, 0x00, 0x00, 0x00);
return(polygonToDisplay);
}
void InitRoboCupSoccerField()
{
double TerrainLowerX = -11;
double TerrainUpperX = 11;
double TerrainLowerY = -7;
double TerrainUpperY = 7;
int fieldLineWidth = 2;
PolygonExtended p = new PolygonExtended();
p.polygon.Points.Add(new System.Windows.Point(-12, -8));
p.polygon.Points.Add(new System.Windows.Point(12, -8));
p.polygon.Points.Add(new System.Windows.Point(12, 8));
p.polygon.Points.Add(new System.Windows.Point(-12, 8));
p.polygon.Points.Add(new System.Windows.Point(-12, -8));
p.borderWidth = fieldLineWidth;
p.borderColor = System.Drawing.Color.FromArgb(0x00, 0x00, 0x00, 0x00);
p.backgroundColor = System.Drawing.Color.FromArgb(0xFF, 0x22, 0x22, 0x22);
PolygonSeries.AddOrUpdatePolygonExtended((int)Terrain.ZoneProtegee, p);
p = new PolygonExtended();
p.polygon.Points.Add(new System.Windows.Point(11, -7));
p.polygon.Points.Add(new System.Windows.Point(0, -7));
p.polygon.Points.Add(new System.Windows.Point(0, 7));
p.polygon.Points.Add(new System.Windows.Point(11, 7));
p.polygon.Points.Add(new System.Windows.Point(11, -7));
p.borderWidth = fieldLineWidth;
p.backgroundColor = System.Drawing.Color.FromArgb(0xFF, 0x00, 0x66, 0x00);
PolygonSeries.AddOrUpdatePolygonExtended((int)Terrain.DemiTerrainDroit, p);
p = new PolygonExtended();
p.polygon.Points.Add(new System.Windows.Point(-11, -7));
p.polygon.Points.Add(new System.Windows.Point(0, -7));
p.polygon.Points.Add(new System.Windows.Point(0, 7));
p.polygon.Points.Add(new System.Windows.Point(-11, 7));
p.polygon.Points.Add(new System.Windows.Point(-11, -7));
p.borderWidth = fieldLineWidth;
p.backgroundColor = System.Drawing.Color.FromArgb(0xFF, 0x00, 0x66, 0x00);
PolygonSeries.AddOrUpdatePolygonExtended((int)Terrain.DemiTerrainGauche, p);
p = new PolygonExtended();
p.polygon.Points.Add(new System.Windows.Point(-11, -1.95));
p.polygon.Points.Add(new System.Windows.Point(-10.25, -1.95));
p.polygon.Points.Add(new System.Windows.Point(-10.25, 1.95));
p.polygon.Points.Add(new System.Windows.Point(-11.00, 1.95));
p.polygon.Points.Add(new System.Windows.Point(-11.00, -1.95));
p.borderWidth = fieldLineWidth;
p.backgroundColor = System.Drawing.Color.FromArgb(0x00, 0x00, 0xFF, 0x00);
PolygonSeries.AddOrUpdatePolygonExtended((int)Terrain.SurfaceButGauche, p);
p = new PolygonExtended();
p.polygon.Points.Add(new System.Windows.Point(11.00, -1.95));
p.polygon.Points.Add(new System.Windows.Point(10.25, -1.95));
p.polygon.Points.Add(new System.Windows.Point(10.25, 1.95));
p.polygon.Points.Add(new System.Windows.Point(11.00, 1.95));
p.polygon.Points.Add(new System.Windows.Point(11.00, -1.95));
p.borderWidth = fieldLineWidth;
p.backgroundColor = System.Drawing.Color.FromArgb(0x00, 0x00, 0xFF, 0x00);
PolygonSeries.AddOrUpdatePolygonExtended((int)Terrain.SurfaceButDroit, p);
p = new PolygonExtended();
p.polygon.Points.Add(new System.Windows.Point(11.00, -3.45));
p.polygon.Points.Add(new System.Windows.Point(8.75, -3.45));
p.polygon.Points.Add(new System.Windows.Point(8.75, 3.45));
p.polygon.Points.Add(new System.Windows.Point(11.00, 3.45));
p.polygon.Points.Add(new System.Windows.Point(11.00, -3.45));
p.borderWidth = fieldLineWidth;
p.backgroundColor = System.Drawing.Color.FromArgb(0x00, 0x00, 0xFF, 0x00);
PolygonSeries.AddOrUpdatePolygonExtended((int)Terrain.SurfaceReparationDroit, p);
p = new PolygonExtended();
p.polygon.Points.Add(new System.Windows.Point(-11.00, -3.45));
p.polygon.Points.Add(new System.Windows.Point(-8.75, -3.45));
p.polygon.Points.Add(new System.Windows.Point(-8.75, 3.45));
p.polygon.Points.Add(new System.Windows.Point(-11.00, 3.45));
p.polygon.Points.Add(new System.Windows.Point(-11.00, -3.45));
p.borderWidth = fieldLineWidth;
p.backgroundColor = System.Drawing.Color.FromArgb(0x00, 0x00, 0xFF, 0x00);
PolygonSeries.AddOrUpdatePolygonExtended((int)Terrain.SurfaceReparationGauche, p);
p = new PolygonExtended();
p.polygon.Points.Add(new System.Windows.Point(-11.00, -1.20));
p.polygon.Points.Add(new System.Windows.Point(-11.00, 1.20));
p.polygon.Points.Add(new System.Windows.Point(-11.50, 1.20));
p.polygon.Points.Add(new System.Windows.Point(-11.50, -1.20));
p.polygon.Points.Add(new System.Windows.Point(-11.00, -1.20));
p.borderWidth = fieldLineWidth;
p.backgroundColor = System.Drawing.Color.FromArgb(0x00, 0x00, 0xFF, 0x00);
PolygonSeries.AddOrUpdatePolygonExtended((int)Terrain.ButGauche, p);
p = new PolygonExtended();
p.polygon.Points.Add(new System.Windows.Point(11.00, -1.20));
p.polygon.Points.Add(new System.Windows.Point(11.00, 1.20));
p.polygon.Points.Add(new System.Windows.Point(11.50, 1.20));
p.polygon.Points.Add(new System.Windows.Point(11.50, -1.20));
p.polygon.Points.Add(new System.Windows.Point(11.00, -1.20));
p.borderWidth = fieldLineWidth;
p.backgroundColor = System.Drawing.Color.FromArgb(0x00, 0x00, 0xFF, 0x00);
PolygonSeries.AddOrUpdatePolygonExtended((int)Terrain.ButDroit, p);
p = new PolygonExtended();
p.polygon.Points.Add(new System.Windows.Point(-12.00, -8.00));
p.polygon.Points.Add(new System.Windows.Point(-12.00, -9.00));
p.polygon.Points.Add(new System.Windows.Point(-4.00, -9.00));
p.polygon.Points.Add(new System.Windows.Point(-4.00, -8.00));
p.polygon.Points.Add(new System.Windows.Point(-12.00, -8.00));
p.borderWidth = fieldLineWidth;
p.borderColor = System.Drawing.Color.FromArgb(0x00, 0x00, 0x00, 0x00);
p.backgroundColor = System.Drawing.Color.FromArgb(0xFF, 0x00, 0x00, 0xFF);
PolygonSeries.AddOrUpdatePolygonExtended((int)Terrain.ZoneTechniqueGauche, p);
p = new PolygonExtended();
p.polygon.Points.Add(new System.Windows.Point(+12.00, -8.00));
p.polygon.Points.Add(new System.Windows.Point(+12.00, -9.00));
p.polygon.Points.Add(new System.Windows.Point(+4.00, -9.00));
p.polygon.Points.Add(new System.Windows.Point(+4.00, -8.00));
p.polygon.Points.Add(new System.Windows.Point(+12.00, -8.00));
p.borderWidth = fieldLineWidth;
p.borderColor = System.Drawing.Color.FromArgb(0x00, 0x00, 0x00, 0x00);
p.backgroundColor = System.Drawing.Color.FromArgb(0xFF, 0x00, 0x00, 0xFF);
PolygonSeries.AddOrUpdatePolygonExtended((int)Terrain.ZoneTechniqueDroite, p);
p = new PolygonExtended();
int nbSteps = 30;
for (int i = 0; i < nbSteps + 1; i++)
{
p.polygon.Points.Add(new System.Windows.Point(1.0f * Math.Cos((double)i * (2 * Math.PI / nbSteps)), 1.0f * Math.Sin((double)i * (2 * Math.PI / nbSteps))));
}
p.borderWidth = fieldLineWidth;
p.backgroundColor = System.Drawing.Color.FromArgb(0x00, 0x00, 0xFF, 0x00);
PolygonSeries.AddOrUpdatePolygonExtended((int)Terrain.RondCentral, p);
p = new PolygonExtended();
for (int i = 0; i < (int)(nbSteps / 4) + 1; i++)
{
p.polygon.Points.Add(new System.Windows.Point(-11.00 + 0.75 * Math.Cos((double)i * (2 * Math.PI / nbSteps)), -7.0 + 0.75 * Math.Sin((double)i * (2 * Math.PI / nbSteps))));
}
p.borderWidth = fieldLineWidth;
p.backgroundColor = System.Drawing.Color.FromArgb(0x00, 0x00, 0xFF, 0x00);
PolygonSeries.AddOrUpdatePolygonExtended((int)Terrain.CornerBasGauche, p);
p = new PolygonExtended();
for (int i = (int)(nbSteps / 4) + 1; i < (int)(2 * nbSteps / 4) + 1; i++)
{
p.polygon.Points.Add(new System.Windows.Point(11 + 0.75 * Math.Cos((double)i * (2 * Math.PI / nbSteps)), -7 + 0.75 * Math.Sin((double)i * (2 * Math.PI / nbSteps))));
}
p.borderWidth = fieldLineWidth;
p.backgroundColor = System.Drawing.Color.FromArgb(0x00, 0x00, 0xFF, 0x00);
PolygonSeries.AddOrUpdatePolygonExtended((int)Terrain.CornerBasDroite, p);
p = new PolygonExtended();
for (int i = (int)(2 * nbSteps / 4); i < (int)(3 * nbSteps / 4) + 1; i++)
{
p.polygon.Points.Add(new System.Windows.Point(11 + 0.75 * Math.Cos((double)i * (2 * Math.PI / nbSteps)), 7 + 0.75 * Math.Sin((double)i * (2 * Math.PI / nbSteps))));
}
p.borderWidth = fieldLineWidth;
p.backgroundColor = System.Drawing.Color.FromArgb(0x00, 0x00, 0xFF, 0x00);
PolygonSeries.AddOrUpdatePolygonExtended((int)Terrain.CornerHautDroite, p);
p = new PolygonExtended();
for (int i = (int)(3 * nbSteps / 4) + 1; i < (int)(nbSteps) + 1; i++)
{
p.polygon.Points.Add(new System.Windows.Point(-11 + 0.75 * Math.Cos((double)i * (2 * Math.PI / nbSteps)), 7 + 0.75 * Math.Sin((double)i * (2 * Math.PI / nbSteps))));
}
p.borderWidth = fieldLineWidth;
p.backgroundColor = System.Drawing.Color.FromArgb(0x00, 0x00, 0xFF, 0x00);
PolygonSeries.AddOrUpdatePolygonExtended((int)Terrain.CornerHautGauche, p);
p = new PolygonExtended();
for (int i = 0; i < (int)(nbSteps) + 1; i++)
{
p.polygon.Points.Add(new System.Windows.Point(-7.4 + 0.075 * Math.Cos((double)i * (2 * Math.PI / nbSteps)), 0.075 * Math.Sin((double)i * (2 * Math.PI / nbSteps))));
}
p.borderWidth = fieldLineWidth;
p.backgroundColor = System.Drawing.Color.FromArgb(0x00, 0x00, 0xFF, 0x00);
PolygonSeries.AddOrUpdatePolygonExtended((int)Terrain.PtAvantSurfaceGauche, p);
p = new PolygonExtended();
for (int i = 0; i < (int)(nbSteps) + 1; i++)
{
p.polygon.Points.Add(new System.Windows.Point(7.4 + 0.075 * Math.Cos((double)i * (2 * Math.PI / nbSteps)), 0.075 * Math.Sin((double)i * (2 * Math.PI / nbSteps))));
}
p.borderWidth = fieldLineWidth;
p.backgroundColor = System.Drawing.Color.FromArgb(0x00, 0x00, 0xFF, 0x00);
PolygonSeries.AddOrUpdatePolygonExtended((int)Terrain.PtAvantSurfaceDroit, p);
}
public void AddOrUpdatePolygonExtended(int id, PolygonExtended p)
{
polygonList.AddOrUpdate(id, p, (key, value) => p);
}
//void InitTeam()
//{
// //Team1
// for (int i = 0; i < 1; i++)
// {
// PolygonExtended robotShape = new PolygonExtended();
// robotShape.polygon.Points.Add(new Point(-0.25, -0.25));
// robotShape.polygon.Points.Add(new Point(0.25, -0.25));
// robotShape.polygon.Points.Add(new Point(0.2, 0));
// robotShape.polygon.Points.Add(new Point(0.25, 0.25));
// robotShape.polygon.Points.Add(new Point(-0.25, 0.25));
// robotShape.polygon.Points.Add(new Point(-0.25, -0.25));
// RobotDisplay rd = new RobotDisplay(robotShape);
// rd.SetPosition((float)(i * 0.50), (float)(Math.Pow(i, 1.3) * 0.50), (float)Math.PI / 4 * i);
// robotDictionary.Add((int)TeamId.Team1+i, rd);
// }
//}
void InitSoccerField()
{
int fieldLineWidth = 2;
PolygonExtended p = new PolygonExtended();
//p.polygon.Points.Add(new Point(-8, -4));
//p.polygon.Points.Add(new Point(8, -4));
////p.polygon.Points.Add(new Point(12, 8));
////p.polygon.Points.Add(new Point(-12, 8));
////p.polygon.Points.Add(new Point(-12, -8));
//p.borderWidth = fieldLineWidth;
//p.borderColor = System.Drawing.Color.FromArgb(0xFF, 0xFF, 0xFF, 0xFF);
//p.backgroundColor = System.Drawing.Color.FromArgb(0xFF, 0x22, 0x22, 0x22);
//PolygonSeries.AddOrUpdatePolygonExtended((int)Terrain.ZoneProtegee, p);
p = new PolygonExtended();
p.polygon.Points.Add(new Point(-0.335, 0));
p.polygon.Points.Add(new Point(-0.335, 1.5));
p.polygon.Points.Add(new Point(-1.815, 1.5));
p.polygon.Points.Add(new Point(-1.815, 0));
p.polygon.Points.Add(new Point(-0.335, 0));
p.borderWidth = fieldLineWidth;
p.backgroundColor = System.Drawing.Color.FromArgb(0xFF, 46, 49, 146);
PolygonSeries.AddOrUpdatePolygonExtended((int)Terrain.CarreServiceHautGauche, p);
p = new PolygonExtended();
p.polygon.Points.Add(new Point(-0.335, 0));
p.polygon.Points.Add(new Point(-0.335, -1.5));
p.polygon.Points.Add(new Point(-1.815, -1.5));
p.polygon.Points.Add(new Point(-1.815, 0));
p.polygon.Points.Add(new Point(-0.335, 0));
p.borderWidth = fieldLineWidth;
p.backgroundColor = System.Drawing.Color.FromArgb(0xFF, 46, 49, 146);
PolygonSeries.AddOrUpdatePolygonExtended((int)Terrain.CarreServiceBasGauche, p);
p = new PolygonExtended();
p.polygon.Points.Add(new Point(0.335, 0));
p.polygon.Points.Add(new Point(0.335, 1.5));
p.polygon.Points.Add(new Point(1.815, 1.5));
p.polygon.Points.Add(new Point(1.815, 0));
p.polygon.Points.Add(new Point(0.335, 0));
p.borderWidth = fieldLineWidth;
p.backgroundColor = System.Drawing.Color.FromArgb(0xFF, 46, 49, 146);
PolygonSeries.AddOrUpdatePolygonExtended((int)Terrain.CarreServiceHautDroit, p);
p = new PolygonExtended();
p.polygon.Points.Add(new Point(0.335, 0));
p.polygon.Points.Add(new Point(0.335, -1.5));
p.polygon.Points.Add(new Point(1.815, -1.5));
p.polygon.Points.Add(new Point(1.815, 0));
p.polygon.Points.Add(new Point(0.335, 0));
p.borderWidth = fieldLineWidth;
p.backgroundColor = System.Drawing.Color.FromArgb(0xFF, 46, 49, 146);
PolygonSeries.AddOrUpdatePolygonExtended((int)Terrain.CarreServiceBasDroit, p);
p = new PolygonExtended();
p.polygon.Points.Add(new Point(-0.335, -2));
p.polygon.Points.Add(new Point(0.335, -2));
p.polygon.Points.Add(new Point(0.335, 2));
p.polygon.Points.Add(new Point(-0.335, 2));
p.polygon.Points.Add(new Point(-0.335, -2));
p.borderWidth = fieldLineWidth;
p.backgroundColor = System.Drawing.Color.FromArgb(0xFF, 0xFF, 0xFF, 0xFF);
PolygonSeries.AddOrUpdatePolygonExtended((int)Terrain.LigneMediane, p);
p = new PolygonExtended();
p.polygon.Points.Add(new Point(0.019, -2));
p.polygon.Points.Add(new Point(0.019, 2));
p.polygon.Points.Add(new Point(-0.019, 2));
p.polygon.Points.Add(new Point(-0.019, -2));
p.polygon.Points.Add(new Point(0.019, -2));
p.borderWidth = fieldLineWidth;
p.backgroundColor = System.Drawing.Color.Black;
PolygonSeries.AddOrUpdatePolygonExtended((int)Terrain.LigneNoirCentrale, p);
p = new PolygonExtended();
p.polygon.Points.Add(new Point(-0.335, -1.5));
p.polygon.Points.Add(new Point(-4, -1.5));
p.polygon.Points.Add(new Point(-4, -2));
p.polygon.Points.Add(new Point(-0.335, -2));
p.polygon.Points.Add(new Point(-0.335, -1.5));
p.borderWidth = fieldLineWidth;
p.backgroundColor = System.Drawing.Color.FromArgb(0xFF, 46, 49, 146);
PolygonSeries.AddOrUpdatePolygonExtended((int)Terrain.CouloirBasGauche, p);
p = new PolygonExtended();
p.polygon.Points.Add(new Point(-0.335, 1.5));
p.polygon.Points.Add(new Point(-4, 1.5));
p.polygon.Points.Add(new Point(-4, 2));
p.polygon.Points.Add(new Point(-0.335, 2));
p.polygon.Points.Add(new Point(-0.335, 1.5));
p.borderWidth = fieldLineWidth;
p.backgroundColor = System.Drawing.Color.FromArgb(0xFF, 46, 49, 146);
PolygonSeries.AddOrUpdatePolygonExtended((int)Terrain.CouloirHautGauche, p);
p = new PolygonExtended();
p.polygon.Points.Add(new Point(0.335, 1.5));
p.polygon.Points.Add(new Point(4, 1.5));
p.polygon.Points.Add(new Point(4, 2));
p.polygon.Points.Add(new Point(0.335, 2));
p.polygon.Points.Add(new Point(0.335, 1.5));
p.borderWidth = fieldLineWidth;
p.backgroundColor = System.Drawing.Color.FromArgb(0xFF, 46, 49, 146);
PolygonSeries.AddOrUpdatePolygonExtended((int)Terrain.CouloirHautDroit, p);
p = new PolygonExtended();
p.polygon.Points.Add(new Point(0.335, -1.5));
p.polygon.Points.Add(new Point(4, -1.5));
p.polygon.Points.Add(new Point(4, -2));
p.polygon.Points.Add(new Point(0.335, -2));
p.polygon.Points.Add(new Point(0.335, -1.5));
p.borderWidth = fieldLineWidth;
p.backgroundColor = System.Drawing.Color.FromArgb(0xFF, 46, 49, 146);
PolygonSeries.AddOrUpdatePolygonExtended((int)Terrain.CouloirBasDroit, p);
p = new PolygonExtended();
p.polygon.Points.Add(new Point(-1.815, 1.5));
p.polygon.Points.Add(new Point(-4, 1.5));
p.polygon.Points.Add(new Point(-4, -1.5));
p.polygon.Points.Add(new Point(-1.815, -1.5));
p.polygon.Points.Add(new Point(-1.815, 1.5));
p.borderWidth = fieldLineWidth;
p.backgroundColor = System.Drawing.Color.FromArgb(0xFF, 46, 49, 146);
PolygonSeries.AddOrUpdatePolygonExtended((int)Terrain.FontDeCourtGauche, p);
p = new PolygonExtended();
p.polygon.Points.Add(new Point(1.815, 1.5));
p.polygon.Points.Add(new Point(4, 1.5));
p.polygon.Points.Add(new Point(4, -1.5));
p.polygon.Points.Add(new Point(1.815, -1.5));
p.polygon.Points.Add(new Point(1.815, 1.5));
p.borderWidth = fieldLineWidth;
p.backgroundColor = System.Drawing.Color.FromArgb(0xFF, 46, 49, 146);
PolygonSeries.AddOrUpdatePolygonExtended((int)Terrain.FontDeCourtDroit, p);
p = new PolygonExtended();
p.polygon.Points.Add(new Point(-4, -0.1));
p.polygon.Points.Add(new Point(-4.2, -0.1));
p.polygon.Points.Add(new Point(-4.2, 0.1));
p.polygon.Points.Add(new Point(-4, 0.1));
p.polygon.Points.Add(new Point(-4, -0.1));
p.borderWidth = fieldLineWidth;
p.backgroundColor = System.Drawing.Color.Brown;
PolygonSeries.AddOrUpdatePolygonExtended((int)Terrain.BaliseGaucheFontDeCourt, p);
p = new PolygonExtended();
p.polygon.Points.Add(new Point(-0.9, -2));
p.polygon.Points.Add(new Point(-0.9, -2.2));
p.polygon.Points.Add(new Point(-1.1, -2.2));
p.polygon.Points.Add(new Point(-1.1, -2));
p.polygon.Points.Add(new Point(-0.9, -2));
p.borderWidth = fieldLineWidth;
p.backgroundColor = System.Drawing.Color.Brown;
PolygonSeries.AddOrUpdatePolygonExtended((int)Terrain.BaliseGaucheBas, p);
p = new PolygonExtended();
p.polygon.Points.Add(new Point(-0.9, 2));
p.polygon.Points.Add(new Point(-0.9, 2.2));
p.polygon.Points.Add(new Point(-1.1, 2.2));
p.polygon.Points.Add(new Point(-1.1, 2));
p.polygon.Points.Add(new Point(-0.9, 2));
p.borderWidth = fieldLineWidth;
p.backgroundColor = System.Drawing.Color.Brown;
PolygonSeries.AddOrUpdatePolygonExtended((int)Terrain.BaliseGaucheHaut, p);
p = new PolygonExtended();
p.polygon.Points.Add(new Point(4, -0.1));
p.polygon.Points.Add(new Point(4.2, -0.1));
p.polygon.Points.Add(new Point(4.2, 0.1));
p.polygon.Points.Add(new Point(4, 0.1));
p.polygon.Points.Add(new Point(4, -0.1));
p.borderWidth = fieldLineWidth;
p.backgroundColor = System.Drawing.Color.Brown;
PolygonSeries.AddOrUpdatePolygonExtended((int)Terrain.BaliseDroitFontDeCourt, p);
p = new PolygonExtended();
p.polygon.Points.Add(new Point(0.9, -2));
p.polygon.Points.Add(new Point(0.9, -2.2));
p.polygon.Points.Add(new Point(1.1, -2.2));
p.polygon.Points.Add(new Point(1.1, -2));
p.polygon.Points.Add(new Point(0.9, -2));
p.borderWidth = fieldLineWidth;
p.backgroundColor = System.Drawing.Color.Brown;
PolygonSeries.AddOrUpdatePolygonExtended((int)Terrain.BaliseDroitBas, p);
p = new PolygonExtended();
p.polygon.Points.Add(new Point(0.9, 2));
p.polygon.Points.Add(new Point(0.9, 2.2));
p.polygon.Points.Add(new Point(1.1, 2.2));
p.polygon.Points.Add(new Point(1.1, 2));
p.polygon.Points.Add(new Point(0.9, 2));
p.borderWidth = fieldLineWidth;
p.backgroundColor = System.Drawing.Color.Brown;
PolygonSeries.AddOrUpdatePolygonExtended((int)Terrain.BaliseDroitHaut, p);
}
