/// <summary>
/// 鼠标关键点吸附
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void MapPictureBox_MouseMove(object sender, MouseEventArgs e)
{
//snapupdate = false;
//Rec_text.AppendText("坐标：" + e.X.ToString() + " " + e.Y.ToString() + "\r\n");
this.mouse_pos_label.Text = "鼠标坐标：" + e.X.ToString() + " " + e.Y.ToString();
for (int i = 0; i < Posptlst.Count; i++)
{
if (Posptlst[i].p.X - snapsize / 2.0 < e.X &&
Posptlst[i].p.X + snapsize / 2.0 > e.X &&
Posptlst[i].p.Y - snapsize / 2.0 < e.Y &&
Posptlst[i].p.Y + snapsize / 2.0 > e.Y &&
mo.globMoCtx < snapsize
)
{
mo.MoveMouseToPoint(this.MapPictureBox.PointToScreen(new Point((int)Posptlst[i].p.X, (int)Posptlst[i].p.Y)));
return;
}
}
if (gridon == true) //开启栅格化坐标
{
int gridsize = Convert.ToInt32(GridSizetextBox.Text);
Point plt = new Point((int)(e.X / gridsize * gridsize), (int)((e.Y / gridsize * gridsize)));
Point plb = new Point((int)(e.X / gridsize * gridsize), (int)(((e.Y / gridsize + 1) * gridsize)));
Point prt = new Point((int)((e.X / gridsize + 1) * gridsize), (int)((e.Y / gridsize * gridsize)));
Point prb = new Point((int)((e.X / gridsize + 1) * gridsize), (int)(((e.Y / gridsize + 1) * gridsize)));
List <Point> PPlst = new List <Point>();
PPlst.Add(plt);
PPlst.Add(plb);
PPlst.Add(prt);
PPlst.Add(prb);
Point cp = new Point(e.X, e.Y);
double dis = MapKeyPoint.PtDis(cp, PPlst[0]);
int pct = 0;
for (int i = 0; i < PPlst.Count; i++)
{
double tmpdis = MapKeyPoint.PtDis(cp, PPlst[i]);
if (tmpdis < dis)
{
dis = tmpdis;
pct = i;
}
}
if (dis <= snapsize
//&& !(PPlst[pct].X == presnappt.X && PPlst[pct].Y == presnappt.Y)
)
{
mo.MoveMouseToPoint(this.MapPictureBox.PointToScreen(PPlst[pct]));
//presnappt = PPlst[pct];
//if (snapupdate == false)
//{
// snapupdate = true;
//}
//else
}
//else
//{
// snapupdate = true;
//}
}
}
/// <summary>
/// 删除一个定位点
/// </summary>
/// <param name="pfd"></param>
private void clear1point(MapKeyPoint pfd)
{
Graphics g = this.MapPictureBox.CreateGraphics();
Pen p = new Pen(Color.White, 1);
//g.DrawRectangle(p, e.X - size / 2, e.Y - size / 2, size, size);
Brush b = new SolidBrush(Color.White);
g.FillRectangle(b, pfd.p.X - size / 2, pfd.p.Y - size / 2, size, size);
map.Posptlst.Remove(pfd);
}
/// <summary>
/// 绘制一条边界线
/// </summary>
/// <param name="st">起始点</param>
/// <param name="et">终止点</param>
private void draw1line(MapKeyPoint st, MapKeyPoint et)
{
Graphics g = this.MapPictureBox.CreateGraphics();
this.Show();
//Pen p = new Pen(Color.White, 1);
//g.DrawRectangle(p, e.X - size / 2, e.Y - size / 2, size, size);
Pen b;
//Pen pen = new Pen(Color.Red, 5);
if (st.t != et.t)
{
MessageBox.Show("点类型不一致");
return;
}
//int size = 100;
switch (st.t)
{
case MapKeyPoint.ptype.地形边界点:
b = new Pen(Color.Gray, size);
break;
case MapKeyPoint.ptype.障碍边界点:
b = new Pen(Color.AliceBlue, size);
break;
case MapKeyPoint.ptype.导航路标点:
b = new Pen(Color.Green, size);
break;
case MapKeyPoint.ptype.路径路标点:
b = new Pen(Color.YellowGreen, size);
break;
case MapKeyPoint.ptype.定位点:
b = new Pen(Color.Red, size);
break;
case MapKeyPoint.ptype.NULL:
b = new Pen(Color.White, size);
break;
default:
b = new Pen(Color.White, size);
break;
}
//g.FillRectangle(b, pfd.p.X - size / 2, pfd.p.Y - size / 2, size, size);
//g.FillPolygon(b, ps);
g.DrawLine(b, st.p, et.p);
LineStr ls = new LineStr(st, et);
map.linestrlst.Add(ls);
}
/// <summary>
/// 创建连接线
/// </summary>
/// <param name="startpt">起始点</param>
/// <param name="endpt">结束点</param>
public LineStr(MapKeyPoint startpt, MapKeyPoint endpt)
{
if (startpt.t == endpt.t)
{
this.startpt = startpt;
this.endpt = endpt;
}
else
{
MessageBox.Show("不同类型的点连接为一体！");
this.startpt = null;
this.endpt = null;
}
}
/// <summary>
/// 增加一个定位点
/// </summary>
/// <param name="pfd"></param>
private void add1point(MapKeyPoint pfd)
{
Graphics g = this.MapPictureBox.CreateGraphics();
//Pen p = new Pen(Color.White, 1);
//g.DrawRectangle(p, e.X - size / 2, e.Y - size / 2, size, size);
Brush b;
switch (pfd.t)
{
case MapKeyPoint.ptype.地形边界点:
b = new SolidBrush(Color.Blue);
break;
case MapKeyPoint.ptype.障碍边界点:
b = new SolidBrush(Color.AliceBlue);
break;
case MapKeyPoint.ptype.导航路标点:
b = new SolidBrush(Color.Green);
break;
case MapKeyPoint.ptype.路径路标点:
b = new SolidBrush(Color.YellowGreen);
break;
case MapKeyPoint.ptype.定位点:
b = new SolidBrush(Color.Red);
break;
case MapKeyPoint.ptype.NULL:
b = new SolidBrush(Color.White);
break;
default:
b = new SolidBrush(Color.White);
break;
}
g.FillRectangle(b, pfd.p.X - size / 2, pfd.p.Y - size / 2, size, size);
map.Posptlst.Add(pfd);
}
/// <summary>
/// 单点
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void MapPictureBox_MouseDown(object sender, MouseEventArgs e)
{
#region 左键事件
if (e.Button == MouseButtons.Left)
{
#region 除点
if (this.DrawSelect.GetItemCheckState(4) == CheckState.Checked &&
this.DrawSelect.GetItemCheckState(3) == CheckState.Unchecked) //删除关键点
{
PointF pf = new PointF(e.X, e.Y);
int width = 10;
int height = 10;
for (int i = 0; i < Posptlst.Count; i++)
{
for (int x = (int)Posptlst[i].p.X - Width; x < (int)Posptlst[i].p.X + width; x++)
{
for (int y = (int)Posptlst[i].p.Y - height; y < (int)Posptlst[i].p.Y + height; y++)
{
if (x == e.X && y == e.Y)
{
delete_pt_idx.Add(i);
}
}
}
}
//remove point and draw again
if (delete_pt_idx.Count == 1) //一次删除一个点
{
MapKeyPoint pfd = Posptlst[delete_pt_idx[0]];
Posptlst.RemoveAt(delete_pt_idx[0]);
reportUI(Posptlst, MapKeyPoint.ptype.定位点);
clear1point(pfd);
delete_pt_idx.Clear();
}
else if (delete_pt_idx.Count > 1) //附近有多个点
{
SelectForm sf = new SelectForm(this);
sf.Owner = this;
sf.ShowDialog();
int ct = 0;
while (ct < Posptlst.Count)
{
if (Posptlst[ct].t == MapKeyPoint.ptype.NULL)
{
clear1point(Posptlst[ct]);
Posptlst.Remove(Posptlst[ct]);
ct = 0;
}
ct++;
}
reportUI(Posptlst, MapKeyPoint.ptype.定位点);
delete_pt_idx.Clear();
}
else //没有点
{
delete_pt_idx.Clear();
}
}
#endregion
#region 添加点
else if (this.DrawSelect.GetItemCheckState(3) == CheckState.Checked &&
this.DrawSelect.GetItemCheckState(4) == CheckState.Unchecked) //设置关键点
{
#region 去重
foreach (MapKeyPoint item in Posptlst)
{
if (item.p.X == e.X && item.p.Y == e.Y)
{
Rec_text.AppendText("该点重复！\r\n");
return;
}
}
#endregion
PointF pt = new PointF(e.X, e.Y);
MapKeyPoint p = new MapKeyPoint(pt, MapKeyPoint.ptype.定位点);
Posptlst.Add(p);
reportUI(Posptlst, p.t);
add1point(p);
Rec_text.AppendText("坐标：" + e.X.ToString() + " " + e.Y.ToString() + "\r\n");
}
#endregion
}
#endregion
#region 右键事件
else if (e.Button == MouseButtons.Right)
{
Rec_text.AppendText("右键坐标：" + e.X.ToString() + " " + e.Y.ToString() + "\r\n");
curRightPoint = null;
foreach (MapKeyPoint item in Posptlst)
{
if (item.p.X == e.X && item.p.Y == e.Y)
{
curRightPoint = item;
}
}
if (curRightPoint == null)
{
MessageBox.Show("未找到定位点!");
return;
}
}
#endregion
#region 其他事件
else
{
//do nothing
}
#endregion
}
private void MapLoadBtn_Click(object sender, EventArgs e)
{
//地图数据由XML编写
#region 默认数据
MapClass defaultmap = new MapClass(); //临时地图
map.Posptlst.Clear(); //清空地图
map.linestrlst.Clear(); //清空地图
double scale = 18; //地图缩放比例
double Xoffset = 10;
double Yoffset = 10;
//[wall,point,xy]
double[,,] defaultMapWallData = { { { 0, 0 }, { 0, 15 } },
{ { 0, 15 }, { 25, 15 } },
{ { 25, 15 }, { 25, 0 } },
{ { 25, 0 }, { 0, 0 } },
{ { 0, 0 }, { 0, 15 } },
{ { 8.5, 15 }, { 8.5, 10 } },
{ { 8.5, 10 }, { 7.5, 10 } },
{ { 0, 7.5 }, { 5, 7.5 } },
{ { 5, 7.5 }, { 5.0, 10 } },
{ { 0.0, 10 }, { 2.5, 10 } },
{ { 4.5, 10 }, { 5, 10 } },
{ { 7.5, 7.5 }, { 8.5, 7.5 } },
{ { 8.5, 7.5 }, { 8.5, 4.5 } },
{ { 8.5, 2.5 }, { 8.5, 0 } },
{ { 8.5, 1.5 }, { 9, 1.5 } },
{ { 8.5, 5.5 }, { 14.5, 5.5 } },
{ { 11, 5.5 }, { 11, 1.5 } },
{ { 11, 1.5 }, { 10.5, 1.5 } },
{ { 16.5, 5.5 }, { 20, 5.5 } },
{ { 17.5, 5.5 }, { 17.5, 0 } },
{ { 10.5, 1.5 }, { 11, 1.5 } },
{ { 11, 1.5 }, { 11.0, 0 } },
{ { 15.5, 15 }, { 15.5, 12.5 } },
{ { 15.5, 10.5 }, { 19.5, 10.5 } },
{ { 19.5, 10.5 }, { 19.5, 8 } },
{ { 19.5, 8 }, { 15.5, 8 } },
{ { 15.5, 8 }, { 15.5, 10.5 } } };
MapKeyPoint st = new MapKeyPoint();
MapKeyPoint et = new MapKeyPoint();
for (int i = 0; i < defaultMapWallData.GetLength(0); i++)
{
for (int j = 0; j < defaultMapWallData.GetLength(1); j++)
{
PointF p = new PointF();
for (int k = 0; k < defaultMapWallData.GetLength(2); k++)
{
if (k == 0)
{
p.X = (float)(defaultMapWallData[i, j, k] * scale + Xoffset);
}
else
{
p.Y = (float)(defaultMapWallData[i, j, k] * scale + Yoffset);
}
}
MapKeyPoint mkp = new MapKeyPoint(p, MapKeyPoint.ptype.地形边界点);
defaultmap.Posptlst.Add(mkp);
if (j == 0)
{
st = mkp;
}
else
{
et = mkp;
}
}
LineStr ls = new LineStr(st, et);
defaultmap.linestrlst.Add(ls);
}
#endregion
#region 画布重绘，加载地图
for (int i = 0; i < defaultmap.Posptlst.Count; i++)
{
add1point(defaultmap.Posptlst[i]);
}
for (int i = 0; i < defaultmap.linestrlst.Count; i++)
{
draw1line(defaultmap.linestrlst[i].startpt, defaultmap.linestrlst[i].endpt);
}
#endregion
}
