public PolygonExtended GetBallSpeedArrow()
{
PolygonExtended polygonToDisplay = new PolygonExtended();
if (location != null)
{
double angleTeteFleche = Math.PI / 6;
double longueurTeteFleche = 0.30;
double LongueurFleche = Math.Sqrt(location.Vx * location.Vx + location.Vy * location.Vy);
double headingAngle = Math.Atan2(location.Vy, location.Vx) + location.Theta;
double xTete = LongueurFleche * Math.Cos(headingAngle);
double yTete = LongueurFleche * Math.Sin(headingAngle);
polygonToDisplay.polygon.Points.Add(new Point(location.X, location.Y));
polygonToDisplay.polygon.Points.Add(new Point(location.X + xTete, location.Y + yTete));
double angleTeteFleche1 = headingAngle + angleTeteFleche;
double angleTeteFleche2 = headingAngle - angleTeteFleche;
polygonToDisplay.polygon.Points.Add(new Point(location.X + xTete - longueurTeteFleche * Math.Cos(angleTeteFleche1), location.Y + yTete - longueurTeteFleche * Math.Sin(angleTeteFleche1)));
polygonToDisplay.polygon.Points.Add(new Point(location.X + xTete, location.Y + yTete));
polygonToDisplay.polygon.Points.Add(new Point(location.X + xTete - longueurTeteFleche * Math.Cos(angleTeteFleche2), location.Y + yTete - longueurTeteFleche * Math.Sin(angleTeteFleche2)));
polygonToDisplay.polygon.Points.Add(new Point(location.X + xTete, location.Y + yTete));
polygonToDisplay.borderWidth = 2;
polygonToDisplay.borderColor = Color.FromArgb(0xFF, 0xFF, 0x00, 0x00);
polygonToDisplay.borderDashPattern = new double[] { 3, 3 };
polygonToDisplay.borderOpacity = 1;
polygonToDisplay.backgroundColor = 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.Windows.Media.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 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 PolygonExtended GetRobotPolygon()
{
PolygonExtended polygonToDisplay = new PolygonExtended();
foreach (var pt in shape.polygon.Points)
{
Point polyPt = new Point(pt.X * Math.Cos(location.Theta) - pt.Y * Math.Sin(location.Theta), pt.X * Math.Sin(location.Theta) + pt.Y * Math.Cos(location.Theta));
polyPt.X += location.X;
polyPt.Y += location.Y;
polygonToDisplay.polygon.Points.Add(polyPt);
polygonToDisplay.backgroundColor = displayColor;// shape.backgroundColor;
polygonToDisplay.borderColor = shape.borderColor;
polygonToDisplay.borderWidth = shape.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 - location.Y, waypointLocation.X - location.X);
polygonToDisplay.polygon.Points.Add(new Point(location.X, location.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 PolygonExtended GetRobotDestinationArrow()
{
PolygonExtended polygonToDisplay = new PolygonExtended();
double angleTeteFleche = Math.PI / 6;
double longueurTeteFleche = 0.30;
double headingAngle = Math.Atan2(destinationLocation.Y - location.Y, destinationLocation.X - location.X);
polygonToDisplay.polygon.Points.Add(new Point(location.X, location.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 = Color.FromArgb(0xFF, 0xFF, 0xFF, 0xFF);
polygonToDisplay.borderDashPattern = new double[] { 5, 5 };
polygonToDisplay.borderOpacity = 0.4;
polygonToDisplay.backgroundColor = Color.FromArgb(0x00, 0x00, 0x00, 0x00);
return(polygonToDisplay);
}
//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(-12, -8));
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.polygon.Points.Add(new Point(-12, -8));
p.borderWidth = fieldLineWidth;
p.borderColor = Color.FromArgb(0x00, 0x00, 0x00, 0x00);
p.backgroundColor = Color.FromArgb(0xFF, 0x22, 0x22, 0x22);
PolygonSeries.AddOrUpdatePolygonExtended((int)Terrain.ZoneProtegee, p);
p = new PolygonExtended();
p.polygon.Points.Add(new Point(11, -7));
p.polygon.Points.Add(new Point(0, -7));
p.polygon.Points.Add(new Point(0, 7));
p.polygon.Points.Add(new Point(11, 7));
p.polygon.Points.Add(new Point(11, -7));
p.borderWidth = fieldLineWidth;
p.backgroundColor = Color.FromArgb(0xFF, 0x00, 0x66, 0x00);
PolygonSeries.AddOrUpdatePolygonExtended((int)Terrain.DemiTerrainDroit, p);
p = new PolygonExtended();
p.polygon.Points.Add(new Point(-11, -7));
p.polygon.Points.Add(new Point(0, -7));
p.polygon.Points.Add(new Point(0, 7));
p.polygon.Points.Add(new Point(-11, 7));
p.polygon.Points.Add(new Point(-11, -7));
p.borderWidth = fieldLineWidth;
p.backgroundColor = Color.FromArgb(0xFF, 0x00, 0x66, 0x00);
PolygonSeries.AddOrUpdatePolygonExtended((int)Terrain.DemiTerrainGauche, p);
p = new PolygonExtended();
p.polygon.Points.Add(new Point(-11, -1.95));
p.polygon.Points.Add(new Point(-10.25, -1.95));
p.polygon.Points.Add(new Point(-10.25, 1.95));
p.polygon.Points.Add(new Point(-11.00, 1.95));
p.polygon.Points.Add(new Point(-11.00, -1.95));
p.borderWidth = fieldLineWidth;
p.backgroundColor = Color.FromArgb(0x00, 0x00, 0xFF, 0x00);
PolygonSeries.AddOrUpdatePolygonExtended((int)Terrain.SurfaceButGauche, p);
p = new PolygonExtended();
p.polygon.Points.Add(new Point(11.00, -1.95));
p.polygon.Points.Add(new Point(10.25, -1.95));
p.polygon.Points.Add(new Point(10.25, 1.95));
p.polygon.Points.Add(new Point(11.00, 1.95));
p.polygon.Points.Add(new Point(11.00, -1.95));
p.borderWidth = fieldLineWidth;
p.backgroundColor = Color.FromArgb(0x00, 0x00, 0xFF, 0x00);
PolygonSeries.AddOrUpdatePolygonExtended((int)Terrain.SurfaceButDroit, p);
p = new PolygonExtended();
p.polygon.Points.Add(new Point(11.00, -3.45));
p.polygon.Points.Add(new Point(8.75, -3.45));
p.polygon.Points.Add(new Point(8.75, 3.45));
p.polygon.Points.Add(new Point(11.00, 3.45));
p.polygon.Points.Add(new Point(11.00, -3.45));
p.borderWidth = fieldLineWidth;
p.backgroundColor = Color.FromArgb(0x00, 0x00, 0xFF, 0x00);
PolygonSeries.AddOrUpdatePolygonExtended((int)Terrain.SurfaceReparationDroit, p);
p = new PolygonExtended();
p.polygon.Points.Add(new Point(-11.00, -3.45));
p.polygon.Points.Add(new Point(-8.75, -3.45));
p.polygon.Points.Add(new Point(-8.75, 3.45));
p.polygon.Points.Add(new Point(-11.00, 3.45));
p.polygon.Points.Add(new Point(-11.00, -3.45));
p.borderWidth = fieldLineWidth;
p.backgroundColor = Color.FromArgb(0x00, 0x00, 0xFF, 0x00);
PolygonSeries.AddOrUpdatePolygonExtended((int)Terrain.SurfaceReparationGauche, p);
p = new PolygonExtended();
p.polygon.Points.Add(new Point(-11.00, -1.20));
p.polygon.Points.Add(new Point(-11.00, 1.20));
p.polygon.Points.Add(new Point(-11.50, 1.20));
p.polygon.Points.Add(new Point(-11.50, -1.20));
p.polygon.Points.Add(new Point(-11.00, -1.20));
p.borderWidth = fieldLineWidth;
p.backgroundColor = Color.FromArgb(0x00, 0x00, 0xFF, 0x00);
PolygonSeries.AddOrUpdatePolygonExtended((int)Terrain.ButGauche, p);
p = new PolygonExtended();
p.polygon.Points.Add(new Point(11.00, -1.20));
p.polygon.Points.Add(new Point(11.00, 1.20));
p.polygon.Points.Add(new Point(11.50, 1.20));
p.polygon.Points.Add(new Point(11.50, -1.20));
p.polygon.Points.Add(new Point(11.00, -1.20));
p.borderWidth = fieldLineWidth;
p.backgroundColor = Color.FromArgb(0x00, 0x00, 0xFF, 0x00);
PolygonSeries.AddOrUpdatePolygonExtended((int)Terrain.ButDroit, p);
p = new PolygonExtended();
p.polygon.Points.Add(new Point(-12.00, -8.00));
p.polygon.Points.Add(new Point(-12.00, -9.00));
p.polygon.Points.Add(new Point(-4.00, -9.00));
p.polygon.Points.Add(new Point(-4.00, -8.00));
p.polygon.Points.Add(new Point(-12.00, -8.00));
p.borderWidth = fieldLineWidth;
p.borderColor = Color.FromArgb(0x00, 0x00, 0x00, 0x00);
p.backgroundColor = Color.FromArgb(0xFF, 0x00, 0x00, 0xFF);
PolygonSeries.AddOrUpdatePolygonExtended((int)Terrain.ZoneTechniqueGauche, p);
p = new PolygonExtended();
p.polygon.Points.Add(new Point(+12.00, -8.00));
p.polygon.Points.Add(new Point(+12.00, -9.00));
p.polygon.Points.Add(new Point(+4.00, -9.00));
p.polygon.Points.Add(new Point(+4.00, -8.00));
p.polygon.Points.Add(new Point(+12.00, -8.00));
p.borderWidth = fieldLineWidth;
p.borderColor = Color.FromArgb(0x00, 0x00, 0x00, 0x00);
p.backgroundColor = 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 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 = 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 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 = 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 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 = 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 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 = 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 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 = 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 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 = 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 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 = Color.FromArgb(0x00, 0x00, 0xFF, 0x00);
PolygonSeries.AddOrUpdatePolygonExtended((int)Terrain.PtAvantSurfaceDroit, p);
}