/// <summary>
/// What happens when we paint
/// </summary>
/// <param name="e"></param>
protected override void OnPaint(PaintEventArgs e)
{
// clear the background
e.Graphics.Clear(BackColor);
// center on tracked vehicle if exists
if (this.tracked != null)
{
// Get the offset.
Point point = new Point(this.ClientRectangle.Width / 2, this.ClientRectangle.Height / 2);
// get screen po of vehicle
PointF screenCarPos = this.transform.GetScreenPoint(this.tracked.Position);
// Calculate change in Position
double deltaX = ((double)screenCarPos.X) - point.X;
double deltaY = ((double)screenCarPos.Y) - point.Y;
// Update the world
Coordinates tempCenter = WorldTransform.CenterPoint;
tempCenter.X += deltaX / WorldTransform.Scale;
tempCenter.Y -= deltaY / WorldTransform.Scale;
WorldTransform.CenterPoint = tempCenter;
}
// save the graphics state
GraphicsState gs = e.Graphics.Save();
// set the drawing modes
e.Graphics.SmoothingMode = SmoothingMode.HighQuality;
e.Graphics.CompositingQuality = CompositingQuality.HighQuality;
e.Graphics.InterpolationMode = InterpolationMode.Bicubic;
e.Graphics.TextRenderingHint = System.Drawing.Text.TextRenderingHint.ClearTypeGridFit;
// set the transform
e.Graphics.Transform = transform.GetTransform();
// paint the display objects
foreach (IDisplayObject obj in displayObjects)
{
// check if we should display the object
if (obj.ShouldDraw())
{
// render each object
obj.Render(e.Graphics, transform);
}
}
// render ai vehicle
if (!this.DesignMode && this.aiVehicle != null && this.aiVehicle.State != null && this.aiVehicle.ShouldDraw())
{
this.aiVehicle.Render(e.Graphics, transform);
}
// render ai information
if (!this.DesignMode && RemoraCommon.aiInformation.ShouldDraw())
{
RemoraCommon.aiInformation.Render(e.Graphics, transform);
}
// render current tool
if (this.CurrentEditorTool != null && this.CurrentEditorTool.ShouldDraw())
{
this.CurrentEditorTool.Render(e.Graphics, transform);
}
// render current tool
if (this.SecondaryEditorTool != null && this.SecondaryEditorTool.ShouldDraw())
{
this.SecondaryEditorTool.Render(e.Graphics, transform);
}
// restore the graphics state
e.Graphics.Restore(gs);
}
/// <summary>
/// What happens when we paint
/// </summary>
/// <param name="e"></param>
protected override void OnPaint(PaintEventArgs e)
{
// clear the background
e.Graphics.Clear(BackColor);
// center on tracked vehicle if exists
if (this.tracked != null)
{
// Get the offset.
Point point = new Point(this.ClientRectangle.Width / 2, this.ClientRectangle.Height / 2);
// get screen po of vehicle
PointF screenCarPos = this.transform.GetScreenPoint(this.tracked.Position);
// Calculate change in Position
double deltaX = ((double)screenCarPos.X) - point.X;
double deltaY = ((double)screenCarPos.Y) - point.Y;
// Update the world
Coordinates tempCenter = WorldTransform.CenterPoint;
tempCenter.X += deltaX / WorldTransform.Scale;
tempCenter.Y -= deltaY / WorldTransform.Scale;
WorldTransform.CenterPoint = tempCenter;
}
// save the graphics state
GraphicsState gs = e.Graphics.Save();
// set the drawing modes
e.Graphics.SmoothingMode = SmoothingMode.AntiAlias; //.HighSpeed;//.HighQuality;
e.Graphics.CompositingQuality = CompositingQuality.HighSpeed; //.HighQuality;
e.Graphics.InterpolationMode = InterpolationMode.Bilinear; //.Bicubic;
e.Graphics.TextRenderingHint = System.Drawing.Text.TextRenderingHint.ClearTypeGridFit;
// set the transform
e.Graphics.Transform = transform.GetTransform();
// paint the display objects
foreach (IDisplayObject obj in displayObjects)
{
// check if we should display the object
if (obj.ShouldDraw())
{
// render each object
obj.Render(e.Graphics, transform);
}
}
// render ai vehicle
if (!this.DesignMode && this.aiVehicle != null && this.aiVehicle.State != null && this.aiVehicle.ShouldDraw())
{
this.aiVehicle.Render(e.Graphics, transform);
}
// render ai information
if (!this.DesignMode && RemoraCommon.aiInformation.ShouldDraw())
{
RemoraCommon.aiInformation.Render(e.Graphics, transform);
}
// render current tool
if (!this.DesignMode && this.CurrentEditorTool != null && this.CurrentEditorTool.ShouldDraw())
{
this.CurrentEditorTool.Render(e.Graphics, transform);
}
// render current tool
if (!this.DesignMode && this.SecondaryEditorTool != null && this.SecondaryEditorTool.ShouldDraw())
{
this.SecondaryEditorTool.Render(e.Graphics, transform);
}
// render observed vehicles
if (!this.DesignMode && RemoraCommon.Communicator.GetObservedVehicles() != null)
{
SceneEstimatorTrackedClusterCollection setcc = RemoraCommon.Communicator.GetObservedVehicles();
for (int i = 0; i < setcc.clusters.Length; i++)
{
SensedVehicleDisplay svd = new SensedVehicleDisplay(setcc.clusters[i]);
svd.Render(e.Graphics, this.WorldTransform);
}
}
if (!this.DesignMode)
{
// render driver side sick
VehicleState state = RemoraCommon.Communicator.GetVehicleState();
if (state != null)
{
Coordinates dvec = state.Front - state.Position;
Coordinates driverVec = dvec.Rotate90();
SideObstacles dsobs = RemoraCommon.Communicator.GetSideObstacles(SideObstacleSide.Driver);
if (dsobs != null)
{
foreach (SideObstacle so in dsobs.obstacles)
{
if (so.height > 0.7)
{
Coordinates cVec = state.Position + driverVec.Normalize(so.distance);
DrawingUtility.DrawControlPoint(cVec, Color.Black, null, ContentAlignment.MiddleCenter, ControlPointStyle.LargeX, e.Graphics, this.WorldTransform);
}
}
}
// render driver side sick
Coordinates pvec = state.Front - state.Position;
Coordinates passVec = dvec.RotateM90();
SideObstacles psobs = RemoraCommon.Communicator.GetSideObstacles(SideObstacleSide.Passenger);
if (psobs != null)
{
foreach (SideObstacle so in psobs.obstacles)
{
if (so.height > 0.7)
{
Coordinates cVec = state.Position + passVec.Normalize(so.distance);
DrawingUtility.DrawControlPoint(cVec, Color.Black, null, ContentAlignment.MiddleCenter, ControlPointStyle.LargeX, e.Graphics, this.WorldTransform);
}
}
}
}
}
// render observed obstacles
if (!this.DesignMode && RemoraCommon.Communicator.GetVehicleState() != null && RemoraCommon.RoadNetwork != null)
{
// set and render
obstacleDisplay.untrackedClusters = RemoraCommon.Communicator.GetObservedObstacles();
obstacleDisplay.trackedClusters = RemoraCommon.Communicator.GetObservedVehicles();
obstacleDisplay.Render(e.Graphics, this.WorldTransform);
}
// restore the graphics state
e.Graphics.Restore(gs);
}
