Simulator/DroneSimulator/Screen2D.cs

using System.Numerics;

namespace DroneSimulator
{
    internal class Screen2D
    {

        public delegate void DrawCallback(Bitmap bmp);

        public Screen2D(DrawCallback callback)
        {
            drawCallback = callback;
        }

        private class DroneInfo
        {
            public int ID;
            public Color RGB;
            public Bitmap? Drone;
            public Point PosXY;
            public int Height = 0;

            public PointF TiltXY = new Point(0, 0);
            public int Azimuth = 0;
        }

        private DrawCallback drawCallback;
        private Bitmap MainArea = new Bitmap(4096, 2560);
        private List<DroneInfo> DroneList = new List<DroneInfo>();

        public static Bitmap DrawQadro(Color ColorFill)
        {
            Bitmap drone = new Bitmap(130, 130);

            using (Graphics g = Graphics.FromImage(drone))
            {
                g.PixelOffsetMode = System.Drawing.Drawing2D.PixelOffsetMode.HighSpeed;

                SolidBrush solidBrush = new SolidBrush(ColorFill);

                Point[] mid = { new Point(35, 65), new Point(70, 40), new Point(70, 90) };
                g.FillPolygon(solidBrush, mid);

                g.FillEllipse(solidBrush, new Rectangle(15, 15, 35, 35));
                g.FillEllipse(solidBrush, new Rectangle(15, 80, 35, 35));
                g.FillEllipse(solidBrush, new Rectangle(80, 80, 35, 35));
                g.FillEllipse(solidBrush, new Rectangle(80, 15, 35, 35));

                g.FillRectangle(solidBrush, new Rectangle(50, 60, 50, 10));

                g.DrawEllipse(new Pen(ColorFill), new Rectangle(0, 0, 129, 129));

                solidBrush.Dispose();
            }

            return RotateImage(drone, 90);
        }

        private static Bitmap RotateImage(Bitmap bmp, float angle)
        {
            Bitmap rotatedImage = new Bitmap(bmp.Width, bmp.Height);

            using (Graphics g = Graphics.FromImage(rotatedImage))
            {
                // Set the rotation point to the center in the matrix
                g.TranslateTransform(bmp.Width / 2, bmp.Height / 2);
                // Rotate
                g.RotateTransform(angle);
                // Restore rotation point in the matrix
                g.TranslateTransform(-bmp.Width / 2, -bmp.Height / 2);
                // Draw the image on the bitmap
                g.DrawImage(bmp, new Point(0, 0));
            }

            return rotatedImage;
        }

        public void CreateDrone(Color ColorFill, int ID)
        {
            DroneInfo info = new DroneInfo();
            info.ID = ID;
            info.RGB = ColorFill;
            info.Drone = DrawQadro(ColorFill);

            DroneList.Add(info);
        }

        public void RemoveDrone(int ID)
        {
            foreach (DroneInfo i in DroneList)
            {
                if (i.ID != ID) continue;
                DroneList.Remove(i);
                break;
            }
        }

        public void DrawScene()
        {
            using (Graphics g = Graphics.FromImage(MainArea))
            {
                g.Clear(Color.Gainsboro);
                SolidBrush shadowBrush = new SolidBrush(Color.Black);
                g.DrawRectangle(new Pen(Color.Black), new Rectangle { Width = MainArea.Width - 1, Height = MainArea.Height - 1 });

                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)
                    {
                        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);
                }
            }

            drawCallback(MainArea);
        }

        public void Move(int id, Vector3 pos, Vector4 tilt)
        {
            const float TO_GRAD = 180 / MathF.PI;
            const float TO_RADI = MathF.PI / 180;

            foreach (var d in DroneList)
            {
                if (d.ID != id) continue;

                d.PosXY.X = (int)pos.X;
                d.PosXY.Y = MainArea.Height - (int)pos.Y;
                d.Height = (int)pos.Z;

                d.TiltXY.X = tilt.X * TO_RADI;
                d.TiltXY.Y = tilt.Y * TO_RADI;
                d.Azimuth = (int)tilt.Z;

                break;
            }
        }
    }
}