/// <summary>
/// view a grid from the given file
/// </summary>
/// <param name="d3d"></param>
/// <param name="dx"></param>
/// <param name="filename">grid filename</param>
/// <param name="grid_level">the level of the grid within the grid to be viewed</param>
/// <param name="min_evidence">minimum evidence threshold</param>
public void viewOccupancyGrid(Gosub.Direct3d d3d, Microsoft.DirectX.Direct3D.Device dx,
String filename, int grid_level, int min_evidence)
{
if (!grid_loaded)
{
currentGrid = new occupancygrid(64, 100);
switch(grid_type)
{
case "914":
{
currentGrid.Load(filename);
break;
}
}
grid_loaded = true;
}
if (currentGrid != null)
{
if (grid_type=="914")
viewGrid(d3d, dx, currentGrid);
}
}
private void SetupSut(int?lineNumber)
{
_mockProgramRepository = new Mock <IProgramRepository>();
_runEnvironment = new RunEnvironment();
var tokens = new List <IToken>();
if (lineNumber.HasValue)
{
tokens.Add(new Token("GOSUB", TokenClass.Statement, TokenType.Gosub));
tokens.Add(new Token(lineNumber.ToString()));
}
_gosubProgramLine = new ProgramLine(10, tokens);
_targetProgramLine = new ProgramLine(100, new List <IToken> {
});
_sut = new Gosub(_runEnvironment, _mockProgramRepository.Object);
_mockProgramRepository.Setup(mpr => mpr.GetLine(100)).Returns(_targetProgramLine);
_mockProgramRepository.Setup(mpr => mpr.GetLine(110))
.Throws(new ClassicBasic.Interpreter.Exceptions.UndefinedStatementException());
_runEnvironment.CurrentLine = _gosubProgramLine;
_gosubProgramLine.CurrentToken = 1;
}
public void viewGrid(Gosub.Direct3d d3d, Microsoft.DirectX.Direct3D.Device dx,
occupancygrid grid)
{
bool ground_plane_drawn = false;
mCellMesh = new AutoMesh(d3d, Mesh.Box(dx, 1, 1, 1));
//show the grid cells
for (int z = grid.dimension-1; z >= 0 ; z--)
{
int plane_hits = 0;
for (int x = 1; x < grid.dimension - 1; x++)
{
for (int y = 1; y < grid.dimension-1; y++)
{
if (grid.display_cell[x, y, z])
{
plane_hits++;
occupancyGridCell c = grid.cell[x, y, z];
int r = 0;
int g = 0;
int b = 255;
if (c != null)
{
r = c.colour[0];
g = c.colour[1];
b = c.colour[2];
}
dx.Transform.World = Matrix.Translation(-grid.dimension / 2, -grid.dimension / 2, -grid.dimension / 2) //Center model
//* Matrix.Scaling(1, 1, 1) // Make it bigger
//* Matrix.RotationYawPitchRoll(0, 0, 0)
* Matrix.Translation(grid.dimension - 1 - x, y, z)
* Matrix.RotationYawPitchRoll(0, tilt, 0); // Then move it where you want
dx.Material = GraphicsUtility.InitMaterial(Color.FromArgb(r, g, b));
mCellMesh.M.DrawSubset(0);
}
//for (int z = 0; z < grid.dimension; z++)
{
if (z == grid.dimension / 2)
{
if ((x == 1) || (x == grid.dimension - 2) || (y == 1) || (y == grid.dimension - 2))
{
dx.Transform.World = Matrix.Translation(-grid.dimension / 2, -grid.dimension / 2, -grid.dimension / 2) //Center model
* Matrix.Translation(x, y, z)
* Matrix.RotationYawPitchRoll(0, tilt, 0); // Then move it where you want
dx.Material = GraphicsUtility.InitMaterial(Color.Green);
mCellMesh.M.DrawSubset(0);
}
}
}
}
}
if ((plane_hits > 30) && (!ground_plane_drawn))
{
ground_plane_drawn = true;
for (int x = 1; x < grid.dimension - 1; x++)
{
for (int y = 1; y < grid.dimension - 1; y++)
{
if (grid.empty[x, y])
{
//occupancyGridCell c = grid.cell[x, y, z];
int r = 0;
int g = 0;
int b = 255;
dx.Transform.World = Matrix.Translation(-grid.dimension / 2, -grid.dimension / 2, -grid.dimension / 2) //Center model
//* Matrix.Scaling(1, 1, 1) // Make it bigger
//* Matrix.RotationYawPitchRoll(0, 0, 0)
* Matrix.Translation(grid.dimension - 1 - x, y, z)
* Matrix.RotationYawPitchRoll(0, tilt, 0); // Then move it where you want
dx.Material = GraphicsUtility.InitMaterial(Color.FromArgb(r, g, b));
mCellMesh.M.DrawSubset(0);
}
}
}
}
}
}
/// <summary>
/// Occurs when it is time to render 3d objects. Place all 3d
/// drawing code in this event.
/// </summary>
private void mD3d_DxRender3d(Gosub.Direct3d d3d, Microsoft.DirectX.Direct3D.Device dx)
{
//if (rendered < 5)
{
// Setup the lights
dx.Lights[0].Enabled = true;
dx.Lights[0].Type = LightType.Directional;
dx.Lights[0].Direction = new Vector3(0, 0, 1);
dx.Lights[0].Diffuse = Color.White;
dx.Lights[0].Position = new Vector3(0, 0, 0);
dx.RenderState.Lighting = true;
// Set viewer
dx.Transform.View = Matrix.LookAtLH(new Vector3(0, 0, -viewing_distance),
new Vector3(0.0f, 0.0f, 0.0f), new Vector3(pan, 1.0f, tilt));
// Set projection matrix
dx.Transform.Projection = Matrix.PerspectiveFovLH(
(float)Math.PI / 4, 640f / 480f, 50.0f, 2000.0f);
dx.RenderState.NormalizeNormals = true;
rendered++;
viewOccupancyGrid(d3d, dx, grid_filename, current_grid_level, 0);
}
}
/// <summary>
/// Occurs once after DirectX has been initialized for the first time.
/// Setup AutoMesh's, AutoVertexBuffer's, and AutoTexture's here.
/// </summary>
private void mD3d_DxLoaded(Gosub.Direct3d d3d, Microsoft.DirectX.Direct3D.Device dx)
{
}
