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Sergey Sklyarov
2025-05-23 11:37:04 +03:00
parent 3a462be82d
commit 3d39f7da12
3 changed files with 50 additions and 45 deletions
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86
DroneSimulator/Screen2D.cs
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@ -106,51 +106,55 @@ namespace DroneSimulator
foreach (var d in DroneList)
{
if (d.Azimuth >= 360) d.Azimuth -= 360;
var bmp = RotateImage(d.Drone, d.Azimuth);
g.FillEllipse(new SolidBrush(Color.FromArgb(50, d.RGB)), d.PosXY.X + d.Height, d.PosXY.Y + d.Height, 130, 130);
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));
//g.DrawImage(bmp, new Rectangle(d.PosXY.X+32, d.PosXY.Y, 65, 130));
float x1 = 0, y1 = 0;
float x2 = 130, y2 = 0;
float x3 = 0, y3 = 130;
const float TO_RADI = MathF.PI / 180;
Quaternion tilt = new Quaternion(d.TiltXY.X, d.TiltXY.Y, 0, 0);
Quaternion rotate = Quaternion.CreateFromAxisAngle(new Vector3(0, 0, 1), d.Azimuth * TO_RADI);
tilt = tilt * rotate * rotate;
if (tilt.Y > 0)
try
{
x1 = (int)(Math.Sin(tilt.Y) * 130);
x3 = (int)(Math.Sin(tilt.Y) * 130);
}
else
{
x2 = (int)(Math.Cos(tilt.Y) * 130);
}
if (d.Azimuth >= 360) d.Azimuth -= 360;
var bmp = RotateImage(d.Drone, d.Azimuth);
if (tilt.X > 0)
{
y1 = (int)(Math.Sin(tilt.X) * 130);
y2 = (int)(Math.Sin(tilt.X) * 130);
}
else
{
y3 = (int)(Math.Cos(tilt.X) * 130);
}
g.FillEllipse(new SolidBrush(Color.FromArgb(50, d.RGB)), d.PosXY.X + d.Height, d.PosXY.Y + d.Height, 130, 130);
PointF ul = new PointF(d.PosXY.X + x1, d.PosXY.Y + y1); PointF ur = new PointF(d.PosXY.X + x2, d.PosXY.Y + y2);
PointF dl = new PointF(d.PosXY.X + x3, d.PosXY.Y + y3);
PointF[] dest = { ul, ur, dl };
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));
g.DrawImage(bmp, dest);
//g.DrawImage(bmp, new Rectangle(d.PosXY.X+32, d.PosXY.Y, 65, 130));
float x1 = 0, y1 = 0;
float x2 = 130, y2 = 0;
float x3 = 0, y3 = 130;
const float TO_RADI = MathF.PI / 180;
Quaternion tilt = new Quaternion(d.TiltXY.X, d.TiltXY.Y, 0, 0);
Quaternion rotate = Quaternion.CreateFromAxisAngle(new Vector3(0, 0, 1), d.Azimuth * TO_RADI);
tilt = tilt * rotate * rotate;
if (tilt.Y > 0)
{
x1 = (int)(Math.Sin(tilt.Y) * 130);
x3 = (int)(Math.Sin(tilt.Y) * 130);
}
else
{
x2 = (int)(Math.Cos(tilt.Y) * 130);
}
if (tilt.X > 0)
{
y1 = (int)(Math.Sin(tilt.X) * 130);
y2 = (int)(Math.Sin(tilt.X) * 130);
}
else
{
y3 = (int)(Math.Cos(tilt.X) * 130);
}
PointF ul = new PointF(d.PosXY.X + x1, d.PosXY.Y + y1); PointF ur = new PointF(d.PosXY.X + x2, d.PosXY.Y + y2);
PointF dl = new PointF(d.PosXY.X + x3, d.PosXY.Y + y3);
PointF[] dest = { ul, ur, dl };
g.DrawImage(bmp, dest);
}
catch { }
}
}