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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Numerics;
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using System.Reflection.Metadata;
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using System.Text;
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using System.Threading.Tasks;
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namespace DroneSimulator
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{
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internal class Screen2D
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{
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public delegate void DrawCallback(Bitmap bmp);
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public Screen2D(DrawCallback callback)
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{
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drawCallback = callback;
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}
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private class DroneInfo
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{
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public int ID;
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public Color RGB;
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public Bitmap? Drone;
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public Point PosXY;
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public int Height = 0;
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public PointF TiltXY = new Point(0, 0);
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public int Azimuth = 0;
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}
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private DrawCallback drawCallback;
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private Bitmap MainArea = new Bitmap(4096, 2560);
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private List<DroneInfo> DroneList = new List<DroneInfo>();
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public static Bitmap DrawQadro(Color ColorFill)
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{
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Bitmap drone = new Bitmap(130, 130);
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using (Graphics g = Graphics.FromImage(drone))
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{
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g.PixelOffsetMode = System.Drawing.Drawing2D.PixelOffsetMode.HighSpeed;
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SolidBrush solidBrush = new SolidBrush(ColorFill);
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Point[] mid = { new Point(35, 65), new Point(70, 40), new Point(70, 90) };
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g.FillPolygon(solidBrush, mid);
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g.FillEllipse(solidBrush, new Rectangle(15, 15, 35, 35));
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g.FillEllipse(solidBrush, new Rectangle(15, 80, 35, 35));
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g.FillEllipse(solidBrush, new Rectangle(80, 80, 35, 35));
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g.FillEllipse(solidBrush, new Rectangle(80, 15, 35, 35));
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g.FillRectangle(solidBrush, new Rectangle(50, 60, 50, 10));
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g.DrawEllipse(new Pen(ColorFill), new Rectangle(0, 0, 129, 129));
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solidBrush.Dispose();
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}
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return RotateImage(drone, 90);
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}
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private static Bitmap RotateImage(Bitmap bmp, float angle)
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{
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Bitmap rotatedImage = new Bitmap(bmp.Width, bmp.Height);
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using (Graphics g = Graphics.FromImage(rotatedImage))
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{
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// Set the rotation point to the center in the matrix
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g.TranslateTransform(bmp.Width / 2, bmp.Height / 2);
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// Rotate
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g.RotateTransform(angle);
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// Restore rotation point in the matrix
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g.TranslateTransform(-bmp.Width / 2, -bmp.Height / 2);
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// Draw the image on the bitmap
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g.DrawImage(bmp, new Point(0, 0));
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}
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return rotatedImage;
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}
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public void CreateDrone(Color ColorFill, int ID)
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{
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DroneInfo info = new DroneInfo();
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info.ID = ID;
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info.RGB = ColorFill;
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info.Drone = DrawQadro(ColorFill);
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DroneList.Add(info);
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}
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public void RemoveDrone(int ID)
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{
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foreach (DroneInfo i in DroneList)
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{
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if (i.ID != ID) continue;
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DroneList.Remove(i);
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break;
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}
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}
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public void DrawScene()
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{
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using (Graphics g = Graphics.FromImage(MainArea))
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{
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g.Clear(Color.Gainsboro);
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SolidBrush shadowBrush = new SolidBrush(Color.Black);
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g.DrawRectangle(new Pen(Color.Black), new Rectangle { Width = MainArea.Width - 1, Height = MainArea.Height - 1 });
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foreach (var d in DroneList)
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{
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if (d.Azimuth >= 360) d.Azimuth -= 360;
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var bmp = RotateImage(d.Drone, d.Azimuth);
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g.FillEllipse(new SolidBrush(Color.FromArgb(50, d.RGB)), d.PosXY.X + d.Height, d.PosXY.Y + d.Height, 130, 130);
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g.DrawLine(new Pen(Color.Black), new Point(d.PosXY.X + d.Drone.Width / 2, d.PosXY.Y + d.Drone.Height / 2), new Point(d.PosXY.X + d.Height + d.Drone.Width / 2, d.PosXY.Y + d.Height + d.Drone.Height / 2));
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//g.DrawImage(bmp, new Rectangle(d.PosXY.X+32, d.PosXY.Y, 65, 130));
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float x1 = 0, y1 = 0;
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float x2 = 130, y2 = 0;
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float x3 = 0, y3 = 130;
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const float TO_RADI = MathF.PI / 180;
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Quaternion tilt = new Quaternion(d.TiltXY.X, d.TiltXY.Y, 0, 0);
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Quaternion rotate = Quaternion.CreateFromAxisAngle(new Vector3(0, 0, 1), d.Azimuth * TO_RADI);
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tilt = tilt * rotate * rotate;
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if (tilt.Y > 0)
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{
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x1 = (int)(Math.Sin(tilt.Y) * 130);
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x3 = (int)(Math.Sin(tilt.Y) * 130);
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}
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else
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{
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x2 = (int)(Math.Cos(tilt.Y) * 130);
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}
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if (tilt.X > 0)
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{
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y1 = (int)(Math.Sin(tilt.X) * 130);
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y2 = (int)(Math.Sin(tilt.X) * 130);
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}
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else
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{
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y3 = (int)(Math.Cos(tilt.X) * 130);
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}
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PointF ul = new PointF(d.PosXY.X + x1, d.PosXY.Y + y1); PointF ur = new PointF(d.PosXY.X + x2, d.PosXY.Y + y2);
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PointF dl = new PointF(d.PosXY.X + x3, d.PosXY.Y + y3);
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PointF[] dest = { ul, ur, dl };
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g.DrawImage(bmp, dest);
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}
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}
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drawCallback(MainArea);
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}
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public void Move(int id, Vector3 pos, Vector4 tilt)
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{
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const float TO_GRAD = 180 / MathF.PI;
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const float TO_RADI = MathF.PI / 180;
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foreach (var d in DroneList)
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{
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if (d.ID != id) continue;
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d.PosXY.X = (int)pos.X;
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d.PosXY.Y = MainArea.Height - (int)pos.Y;
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d.Height = (int)pos.Z;
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d.TiltXY.X = tilt.X * TO_RADI;
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d.TiltXY.Y = tilt.Y * TO_RADI;
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d.Azimuth = (int)tilt.Z;
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break;
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}
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}
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}
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}
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