//內建初始化 Shape
public Shape()
{
StartPoint = new MyDefPoint();
EndPoint = new MyDefPoint();
Width = 0;
Height = 0;
}
public MyDefPolygon(MyDefPoint[] point,MyDefPoint center)
{
CornerPoint = new MyDefPoint[4];
Center = new MyDefPoint(center.X,Center.Y);
for (int i = 0; i < 4; i++)
{
CornerPoint[i].X = point[i].X;
CornerPoint[i].Y = point[i].Y;
}
}
//根據參數初始化 Shape
public Shape(double x, double y, double width, double height)
{
StartPoint = new MyDefPoint();
EndPoint = new MyDefPoint();
StartPoint.X = x;
StartPoint.Y = y;
_tempStartPoint.X = x;
_tempStartPoint.Y = y;
EndPoint.X = x + width;
EndPoint.Y = y + height;
Width = width;
Height = height;
}
public Model()
{
PointPer = -1;
ControlFlag = false;
Polygons = new MyDefPoint[4];
PolygonCenter = new MyDefPoint();
Quadcopter = null;
QuadcopterCenter = new MyDefPoint();
QuadcopterTailCenter = new MyDefPoint();
_droneClient = new DroneClient("192.168.1.1");
_droneClient.Start();
ThreadStart start3 = new ThreadStart(PlaneMotion);
_planeMotionThread = new Thread(start3);
_planeMotionThread.Start();
}
public void AddPolygons(double x, double y)
{
++PointPer;
PointPer %= 4;
Polygons[PointPer] = new MyDefPoint(x, y);
if (PointPer == 3)
{
PolygonCenter.X = (GetPolygonsMinX() + GetPolygonsMaxX()) / 2.0;
PolygonCenter.Y = (GetPolygonsMinY() + GetPolygonsMaxY()) / 2.0;
}
}
private double GetTriangleValue(MyDefPoint p1, MyDefPoint p2, MyDefPoint p3)
{
MyDefPoint s1 = new MyDefPoint(p1.X - p2.X, p1.Y - p2.Y);
MyDefPoint s2 = new MyDefPoint(p1.X - p3.X, p1.Y - p3.Y);
return Math.Abs(0.5 * (s1.X * s2.Y - s1.Y * s2.X));
}
