void CRobot::DrawRobot(CDC* pDC)
{
const float deg45 = M_PI / 4;
const float deg135 = M_PI / 4 * 3;
const float deg15 = M_PI / 180 * 15;
for (UINT count = 0; count < mVectRobot.size(); count++){
ROBOT *robot = &mVectRobot.at(count);
DrawSensorBeam(robot, pDC);
DrawTrajectory(pDC, robot);
float robot_radius = robot->Size / 2;
CPoint pos = CPoint(robot->XPos, robot->YPos);
pDC->MoveTo(pos);
// Draw robot
CPen robot_pen(PS_SOLID, 1, OBSTACLE);
CPen *old_pen = pDC->SelectObject(&robot_pen);
CBrush brush;
brush.CreateSolidBrush(robot->RobotColor);
CBrush *old_brush = pDC->SelectObject(&brush);
pDC->Ellipse(robot->XPos - robot_radius, robot->YPos - robot_radius, robot->XPos + robot_radius, robot->YPos + robot_radius);
pDC->SelectObject(old_brush);
int l = robot_radius - 4;
// For wheels
CPoint pt1 = mGeom.Rotate(pos, l, robot->Theta + deg45);
CPoint pt2 = mGeom.Rotate(pos, l, robot->Theta + deg135);
CPoint pt3 = mGeom.Rotate(pos, l, robot->Theta - deg45 );
CPoint pt4 = mGeom.Rotate(pos, l, robot->Theta - deg135);
// For Head
CPoint pt0 = mGeom.Rotate(pos, robot_radius, robot->Theta);
CPoint pt5 = mGeom.Rotate(pos, l, robot->Theta + deg15 );
CPoint pt6 = mGeom.Rotate(pos, l, robot->Theta - deg15);
// Draw head
pDC->MoveTo(pt5);
pDC->LineTo(pt0);
pDC->LineTo(pt6);
// Draw wheels
pDC->MoveTo(pt1);
pDC->LineTo(pt2);
pDC->MoveTo(pt3);
pDC->LineTo(pt4);
pDC->SelectObject(old_pen);
}
DrawLocationMark(pDC);
}
void PreviewWindow::Render(wxDC& dc)
{
dc.SetBackground(wxBrush(backgroundColour));
dc.Clear();
DrawPath(dc);
DrawTrajectory(dc);
DrawOrigin(dc);
wxString text;
text << wxT("X: ") << offset.x << wxT(" Y: ") << offset.y
<< wxT(" Z: ") << wheelPosition;
dc.SetTextForeground(wxColour(255, 255, 255));
dc.DrawText(text, 40, 10);
}
