mirror of https://github.com/ArduPilot/ardupilot
1502 lines
62 KiB
C#
1502 lines
62 KiB
C#
using System;
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using System.Collections.Generic;
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using System.ComponentModel;
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using System.Drawing;
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using System.Data;
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using System.Text;
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using System.Windows.Forms;
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using System.IO;
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using System.Drawing.Imaging;
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using System.Threading;
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using System.Drawing.Drawing2D;
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using OpenTK;
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using OpenTK.Graphics.OpenGL;
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using OpenTK.Graphics;
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// Control written by Michael Oborne 2011
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// dual opengl and GDI+
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namespace hud
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{
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public class HUD : GLControl
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{
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object paintlock = new object();
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object streamlock = new object();
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MemoryStream _streamjpg = new MemoryStream();
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public MemoryStream streamjpg { get { lock (streamlock) { return _streamjpg; } } set { lock (streamlock) { _streamjpg = value; } } }
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/// <summary>
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/// this is to reduce cpu usage
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/// </summary>
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public bool streamjpgenable = false;
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Bitmap[] charbitmaps = new Bitmap[6000];
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int[] charbitmaptexid = new int[6000];
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int[] charwidth = new int[6000];
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public int huddrawtime = 0;
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public bool opengl { get { return base.UseOpenGL; } set { base.UseOpenGL = value; } }
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public HUD()
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{
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if (this.DesignMode)
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return;
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InitializeComponent();
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graphicsObject = this;
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graphicsObjectGDIP = Graphics.FromImage(objBitmap);
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}
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private void InitializeComponent()
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{
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System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(HUD));
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this.SuspendLayout();
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//
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// HUD
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//
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this.BackColor = System.Drawing.Color.Black;
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this.Name = "HUD";
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resources.ApplyResources(this, "$this");
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this.ResumeLayout(false);
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}
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float _roll;
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float _navroll;
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float _pitch;
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float _navpitch;
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float _heading;
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float _targetheading;
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float _alt;
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float _targetalt;
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float _groundspeed;
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float _airspeed;
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float _targetspeed;
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float _batterylevel;
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float _batteryremaining;
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float _gpsfix;
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float _gpshdop;
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float _disttowp;
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float _groundcourse;
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float _xtrack_error;
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float _turnrate;
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float _verticalspeed;
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string _mode = "Manual";
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int _wpno;
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[System.ComponentModel.Browsable(true), System.ComponentModel.Category("Values")]
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public float roll { get { return _roll; } set { if (_roll != value) { _roll = value; this.Invalidate(); } } }
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[System.ComponentModel.Browsable(true), System.ComponentModel.Category("Values")]
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public float navroll { get { return _navroll; } set { if (_navroll != value) { _navroll = value; this.Invalidate(); } } }
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[System.ComponentModel.Browsable(true), System.ComponentModel.Category("Values")]
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public float pitch { get { return _pitch; } set { if (_pitch != value) { _pitch = value; this.Invalidate(); } } }
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[System.ComponentModel.Browsable(true), System.ComponentModel.Category("Values")]
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public float navpitch { get { return _navpitch; } set { if (_navpitch != value) { _navpitch = value; this.Invalidate(); } } }
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[System.ComponentModel.Browsable(true), System.ComponentModel.Category("Values")]
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public float heading { get { return _heading; } set { if (_heading != value) { _heading = value; this.Invalidate(); } } }
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[System.ComponentModel.Browsable(true), System.ComponentModel.Category("Values")]
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public float targetheading { get { return _targetheading; } set { if (_targetheading != value) { _targetheading = value; this.Invalidate(); } } }
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[System.ComponentModel.Browsable(true), System.ComponentModel.Category("Values")]
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public float alt { get { return _alt; } set { if (_alt != value) { _alt = value; this.Invalidate(); } } }
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[System.ComponentModel.Browsable(true), System.ComponentModel.Category("Values")]
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public float targetalt { get { return _targetalt; } set { if (_targetalt != value) { _targetalt = value; this.Invalidate(); } } }
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[System.ComponentModel.Browsable(true), System.ComponentModel.Category("Values")]
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public float groundspeed { get { return _groundspeed; } set { if (_groundspeed != value) { _groundspeed = value; this.Invalidate(); } } }
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[System.ComponentModel.Browsable(true), System.ComponentModel.Category("Values")]
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public float airspeed { get { return _airspeed; } set { if (_airspeed != value) { _airspeed = value; this.Invalidate(); } } }
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[System.ComponentModel.Browsable(true), System.ComponentModel.Category("Values")]
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public float targetspeed { get { return _targetspeed; } set { if (_targetspeed != value) { _targetspeed = value; this.Invalidate(); } } }
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[System.ComponentModel.Browsable(true), System.ComponentModel.Category("Values")]
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public float batterylevel { get { return _batterylevel; } set { if (_batterylevel != value) { _batterylevel = value; this.Invalidate(); } } }
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[System.ComponentModel.Browsable(true), System.ComponentModel.Category("Values")]
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public float batteryremaining { get { return _batteryremaining; } set { if (_batteryremaining != value) { _batteryremaining = value; this.Invalidate(); } } }
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[System.ComponentModel.Browsable(true), System.ComponentModel.Category("Values")]
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public float gpsfix { get { return _gpsfix; } set { if (_gpsfix != value) { _gpsfix = value; this.Invalidate(); } } }
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[System.ComponentModel.Browsable(true), System.ComponentModel.Category("Values")]
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public float gpshdop { get { return _gpshdop; } set { if (_gpshdop != value) { _gpshdop = value; this.Invalidate(); } } }
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[System.ComponentModel.Browsable(true), System.ComponentModel.Category("Values")]
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public float disttowp { get { return _disttowp; } set { if (_disttowp != value) { _disttowp = value; this.Invalidate(); } } }
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[System.ComponentModel.Browsable(true), System.ComponentModel.Category("Values")]
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public string mode { get { return _mode; } set { if (_mode != value) { _mode = value; this.Invalidate(); } } }
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[System.ComponentModel.Browsable(true), System.ComponentModel.Category("Values")]
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public int wpno { get { return _wpno; } set { if (_wpno != value) { _wpno = value; this.Invalidate(); } } }
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[System.ComponentModel.Browsable(true), System.ComponentModel.Category("Values")]
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public float groundcourse { get { return _groundcourse; } set { if (_groundcourse != value) { _groundcourse = value; this.Invalidate(); } } }
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[System.ComponentModel.Browsable(true), System.ComponentModel.Category("Values")]
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public float xtrack_error { get { return _xtrack_error; } set { if (_xtrack_error != value) { _xtrack_error = value; this.Invalidate(); } } }
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[System.ComponentModel.Browsable(true), System.ComponentModel.Category("Values")]
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public float turnrate { get { return _turnrate; } set { if (_turnrate != value) { _turnrate = value; this.Invalidate(); } } }
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[System.ComponentModel.Browsable(true), System.ComponentModel.Category("Values")]
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public float verticalspeed { get { return _verticalspeed; } set { if (_verticalspeed != value) { _verticalspeed = value; this.Invalidate(); } } }
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public bool bgon = true;
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public bool hudon = true;
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[System.ComponentModel.Browsable(true), System.ComponentModel.Category("Values")]
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public Color hudcolor { get { return whitePen.Color; } set { whitePen = new Pen(value, 2); } }
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Pen whitePen = new Pen(Color.White, 2);
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public Image bgimage { set { _bgimage = value; this.Invalidate(); } }
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Image _bgimage;
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// move these global as they rarely change - reduce GC
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Font font = new Font("Arial", 10);
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Bitmap objBitmap = new Bitmap(1024, 1024);
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int count = 0;
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DateTime countdate = DateTime.Now;
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HUD graphicsObject;
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Graphics graphicsObjectGDIP;
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DateTime starttime = DateTime.MinValue;
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System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(HUD));
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public override void Refresh()
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{
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//base.Refresh();
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OnPaint(new PaintEventArgs(this.CreateGraphics(),this.ClientRectangle));
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}
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protected override void OnLoad(EventArgs e)
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{
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if (this.DesignMode)
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return;
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if (opengl)
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{
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try
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{
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GraphicsMode test = this.GraphicsMode;
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Console.WriteLine(test.ToString());
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Console.WriteLine("Vendor: " + GL.GetString(StringName.Vendor));
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Console.WriteLine("Version: " + GL.GetString(StringName.Version));
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Console.WriteLine("Device: " + GL.GetString(StringName.Renderer));
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//Console.WriteLine("Extensions: " + GL.GetString(StringName.Extensions));
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int[] viewPort = new int[4];
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GL.GetInteger(GetPName.Viewport, viewPort);
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GL.MatrixMode(MatrixMode.Projection);
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GL.LoadIdentity();
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GL.Ortho(0, Width, Height, 0, -1, 1);
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GL.MatrixMode(MatrixMode.Modelview);
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GL.LoadIdentity();
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GL.PushAttrib(AttribMask.DepthBufferBit);
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GL.Disable(EnableCap.DepthTest);
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//GL.Enable(EnableCap.Texture2D);
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GL.BlendFunc(BlendingFactorSrc.SrcAlpha, BlendingFactorDest.OneMinusSrcAlpha);
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GL.Enable(EnableCap.Blend);
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}
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catch (Exception ex) { Console.WriteLine("HUD opengl onload " + ex.ToString()); }
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try
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{
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GL.Hint(HintTarget.PerspectiveCorrectionHint, HintMode.Nicest);
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GL.Hint(HintTarget.LineSmoothHint, HintMode.Nicest);
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GL.Hint(HintTarget.PolygonSmoothHint, HintMode.Nicest);
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GL.Hint(HintTarget.PointSmoothHint, HintMode.Nicest);
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GL.Hint(HintTarget.TextureCompressionHint, HintMode.Nicest);
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}
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catch { }
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try
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{
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GL.Enable(EnableCap.LineSmooth);
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GL.Enable(EnableCap.PointSmooth);
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GL.Enable(EnableCap.PolygonSmooth);
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}
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catch { }
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}
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}
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protected override void OnPaint(PaintEventArgs e)
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{
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//GL.Enable(EnableCap.AlphaTest);
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if (this.DesignMode)
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{
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e.Graphics.Clear(this.BackColor);
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e.Graphics.Flush();
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return;
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}
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if ((DateTime.Now - starttime).TotalMilliseconds < 30 && (_bgimage == null))
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{
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//Console.WriteLine("ms "+(DateTime.Now - starttime).TotalMilliseconds);
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//e.Graphics.DrawImageUnscaled(objBitmap, 0, 0);
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return;
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}
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starttime = DateTime.Now;
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if (opengl)
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{
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MakeCurrent();
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GL.Clear(ClearBufferMask.ColorBufferBit);
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}
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doPaint(e);
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if (opengl) {
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this.SwapBuffers();
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}
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count++;
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huddrawtime += (int)(DateTime.Now - starttime).TotalMilliseconds;
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if (DateTime.Now.Second != countdate.Second)
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{
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countdate = DateTime.Now;
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Console.WriteLine("HUD " + count + " hz drawtime " + (huddrawtime / count) + " gl " + opengl);
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count = 0;
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huddrawtime = 0;
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}
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}
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void Clear(Color color)
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{
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if (opengl)
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{
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GL.ClearColor(color);
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} else
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{
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graphicsObjectGDIP.Clear(color);
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}
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}
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const float rad2deg = (float)(180 / Math.PI);
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const float deg2rad = (float)(1.0 / rad2deg);
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public void DrawArc(Pen penn,RectangleF rect, float start,float degrees)
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{
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if (opengl)
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{
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GL.LineWidth(penn.Width);
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GL.Color4(penn.Color);
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GL.Begin(BeginMode.LineStrip);
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start -= 90;
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float x = 0, y = 0;
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for (int i = (int)start; i <= start + degrees; i++)
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{
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x = (float)Math.Sin(i * deg2rad) * rect.Width / 2;
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y = (float)Math.Cos(i * deg2rad) * rect.Height / 2;
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x = x + rect.X + rect.Width / 2;
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y = y + rect.Y + rect.Height / 2;
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GL.Vertex2(x, y);
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}
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GL.End();
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}
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else
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{
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graphicsObjectGDIP.DrawArc(penn, rect, start, degrees);
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}
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}
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public void DrawEllipse(Pen penn, Rectangle rect)
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{
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if (opengl)
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{
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GL.LineWidth(penn.Width);
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GL.Color4(penn.Color);
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GL.Begin(BeginMode.LineLoop);
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float x, y;
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for (float i = 0; i < 360; i += 1)
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{
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x = (float)Math.Sin(i * deg2rad) * rect.Width / 2;
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y = (float)Math.Cos(i * deg2rad) * rect.Height / 2;
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x = x + rect.X + rect.Width / 2;
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y = y + rect.Y + rect.Height / 2;
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GL.Vertex2(x, y);
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}
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GL.End();
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}
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else
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{
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graphicsObjectGDIP.DrawEllipse(penn, rect);
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}
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}
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int texture;
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Bitmap bitmap = new Bitmap(512,512);
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public void DrawImage(Image img, int x, int y, int width, int height)
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{
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if (opengl)
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{
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if (img == null)
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return;
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//bitmap = new Bitmap(512,512);
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using (Graphics graphics = Graphics.FromImage(bitmap))
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{
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graphics.CompositingQuality = System.Drawing.Drawing2D.CompositingQuality.HighSpeed;
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graphics.InterpolationMode = System.Drawing.Drawing2D.InterpolationMode.NearestNeighbor;
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graphics.SmoothingMode = System.Drawing.Drawing2D.SmoothingMode.HighSpeed;
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//draw the image into the target bitmap
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graphics.DrawImage(img, 0, 0, bitmap.Width, bitmap.Height);
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}
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GL.DeleteTexture(texture);
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GL.GenTextures(1, out texture);
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GL.BindTexture(TextureTarget.Texture2D, texture);
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BitmapData data = bitmap.LockBits(new System.Drawing.Rectangle(0, 0, bitmap.Width, bitmap.Height),
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ImageLockMode.ReadOnly, System.Drawing.Imaging.PixelFormat.Format32bppArgb);
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//Console.WriteLine("w {0} h {1}",data.Width, data.Height);
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GL.TexImage2D(TextureTarget.Texture2D, 0, PixelInternalFormat.Rgba, data.Width, data.Height, 0,
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OpenTK.Graphics.OpenGL.PixelFormat.Bgra, PixelType.UnsignedByte, data.Scan0);
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bitmap.UnlockBits(data);
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GL.TexParameter(TextureTarget.Texture2D, TextureParameterName.TextureMinFilter, (int)TextureMinFilter.Linear);
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GL.TexParameter(TextureTarget.Texture2D, TextureParameterName.TextureMagFilter, (int)TextureMagFilter.Linear);
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GL.Enable(EnableCap.Texture2D);
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GL.BindTexture(TextureTarget.Texture2D, texture);
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GL.Begin(BeginMode.Quads);
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GL.TexCoord2(0.0f, 1.0f); GL.Vertex2(0, this.Height);
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GL.TexCoord2(1.0f, 1.0f); GL.Vertex2(this.Width, this.Height);
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GL.TexCoord2(1.0f, 0.0f); GL.Vertex2(this.Width, 0);
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GL.TexCoord2(0.0f, 0.0f); GL.Vertex2(0, 0);
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GL.End();
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GL.Disable(EnableCap.Texture2D);
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}
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else
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{
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graphicsObjectGDIP.DrawImage(img,x,y,width,height);
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}
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}
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public void DrawPath(Pen penn, GraphicsPath gp)
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{
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try
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{
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DrawPolygon(penn, gp.PathPoints);
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}
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catch { }
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}
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public void FillPath(Brush brushh, GraphicsPath gp)
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{
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try
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{
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FillPolygon(brushh, gp.PathPoints);
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}
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catch { }
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}
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public void SetClip(Rectangle rect)
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{
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}
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public void ResetClip()
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{
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}
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public void ResetTransform()
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{
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if (opengl)
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{
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GL.LoadIdentity();
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}
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else
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{
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graphicsObjectGDIP.ResetTransform();
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}
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}
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public void RotateTransform(float angle)
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{
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if (opengl)
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{
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GL.Rotate(angle, 0, 0, 1);
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}
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else
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{
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graphicsObjectGDIP.RotateTransform(angle);
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}
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}
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public void TranslateTransform(float x, float y)
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{
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if (opengl)
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{
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GL.Translate(x, y, 0f);
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}
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else
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{
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graphicsObjectGDIP.TranslateTransform(x, y);
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}
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}
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public void FillPolygon(Brush brushh, Point[] list)
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{
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if (opengl)
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{
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GL.Begin(BeginMode.TriangleFan);
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GL.Color4(((SolidBrush)brushh).Color);
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foreach (Point pnt in list)
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{
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GL.Vertex2(pnt.X, pnt.Y);
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}
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GL.Vertex2(list[list.Length - 1].X, list[list.Length - 1].Y);
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GL.End();
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}
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else
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{
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graphicsObjectGDIP.FillPolygon(brushh, list);
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}
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}
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public void FillPolygon(Brush brushh, PointF[] list)
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{
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if (opengl)
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{
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GL.Begin(BeginMode.Quads);
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GL.Color4(((SolidBrush)brushh).Color);
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foreach (PointF pnt in list)
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{
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GL.Vertex2(pnt.X, pnt.Y);
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}
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GL.Vertex2(list[0].X, list[0].Y);
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GL.End();
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}
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else
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{
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graphicsObjectGDIP.FillPolygon(brushh, list);
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}
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}
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public void DrawPolygon(Pen penn, Point[] list)
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{
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if (opengl)
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{
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GL.LineWidth(penn.Width);
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GL.Color4(penn.Color);
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GL.Begin(BeginMode.LineLoop);
|
|
foreach (Point pnt in list)
|
|
{
|
|
GL.Vertex2(pnt.X, pnt.Y);
|
|
}
|
|
GL.End();
|
|
}
|
|
else
|
|
{
|
|
graphicsObjectGDIP.DrawPolygon(penn, list);
|
|
}
|
|
}
|
|
|
|
public void DrawPolygon(Pen penn, PointF[] list)
|
|
{
|
|
if (opengl)
|
|
{
|
|
GL.LineWidth(penn.Width);
|
|
GL.Color4(penn.Color);
|
|
|
|
GL.Begin(BeginMode.LineLoop);
|
|
foreach (PointF pnt in list)
|
|
{
|
|
GL.Vertex2(pnt.X, pnt.Y);
|
|
}
|
|
|
|
GL.End();
|
|
}
|
|
else
|
|
{
|
|
graphicsObjectGDIP.DrawPolygon(penn, list);
|
|
}
|
|
}
|
|
|
|
|
|
public void FillRectangle(Brush brushh, RectangleF rectf)
|
|
{
|
|
if (opengl)
|
|
{
|
|
float x1 = rectf.X;
|
|
float y1 = rectf.Y;
|
|
|
|
float width = rectf.Width;
|
|
float height = rectf.Height;
|
|
|
|
GL.Begin(BeginMode.Quads);
|
|
|
|
if (((Type)brushh.GetType()) == typeof(LinearGradientBrush))
|
|
{
|
|
LinearGradientBrush temp = (LinearGradientBrush)brushh;
|
|
GL.Color4(temp.LinearColors[0]);
|
|
}
|
|
else
|
|
{
|
|
GL.Color4(((SolidBrush)brushh).Color.R / 255f, ((SolidBrush)brushh).Color.G / 255f, ((SolidBrush)brushh).Color.B / 255f, ((SolidBrush)brushh).Color.A / 255f);
|
|
}
|
|
|
|
GL.Vertex2(x1, y1);
|
|
GL.Vertex2(x1 + width, y1);
|
|
|
|
if (((Type)brushh.GetType()) == typeof(LinearGradientBrush))
|
|
{
|
|
LinearGradientBrush temp = (LinearGradientBrush)brushh;
|
|
GL.Color4(temp.LinearColors[1]);
|
|
}
|
|
else
|
|
{
|
|
GL.Color4(((SolidBrush)brushh).Color.R / 255f, ((SolidBrush)brushh).Color.G / 255f, ((SolidBrush)brushh).Color.B / 255f, ((SolidBrush)brushh).Color.A / 255f);
|
|
}
|
|
|
|
GL.Vertex2(x1 + width, y1 + height);
|
|
GL.Vertex2(x1, y1 + height);
|
|
GL.End();
|
|
}
|
|
else
|
|
{
|
|
graphicsObjectGDIP.FillRectangle(brushh, rectf);
|
|
}
|
|
}
|
|
|
|
public void DrawRectangle(Pen penn, RectangleF rect)
|
|
{
|
|
DrawRectangle(penn, rect.X, rect.Y, rect.Width, rect.Height);
|
|
}
|
|
|
|
public void DrawRectangle(Pen penn, double x1, double y1, double width, double height)
|
|
{
|
|
|
|
if (opengl)
|
|
{
|
|
GL.LineWidth(penn.Width);
|
|
GL.Color4(penn.Color);
|
|
|
|
GL.Begin(BeginMode.LineLoop);
|
|
GL.Vertex2(x1, y1);
|
|
GL.Vertex2(x1 + width, y1);
|
|
GL.Vertex2(x1 + width, y1 + height);
|
|
GL.Vertex2(x1, y1 + height);
|
|
GL.End();
|
|
}
|
|
else
|
|
{
|
|
graphicsObjectGDIP.DrawRectangle(penn, (float)x1, (float)y1, (float)width, (float)height);
|
|
}
|
|
}
|
|
|
|
public void DrawLine(Pen penn, double x1, double y1, double x2, double y2)
|
|
{
|
|
|
|
if (opengl)
|
|
{
|
|
GL.Color4(penn.Color);
|
|
GL.LineWidth(penn.Width);
|
|
|
|
GL.Begin(BeginMode.Lines);
|
|
GL.Vertex2(x1, y1);
|
|
GL.Vertex2(x2, y2);
|
|
GL.End();
|
|
}
|
|
else
|
|
{
|
|
graphicsObjectGDIP.DrawLine(penn, (float)x1, (float)y1, (float)x2, (float)y2);
|
|
}
|
|
}
|
|
|
|
void doPaint(PaintEventArgs e)
|
|
{
|
|
try
|
|
{
|
|
if (graphicsObjectGDIP == null || !opengl && (objBitmap.Width != this.Width || objBitmap.Height != this.Height))
|
|
{
|
|
objBitmap = new Bitmap(this.Width, this.Height);
|
|
graphicsObjectGDIP = Graphics.FromImage(objBitmap);
|
|
|
|
graphicsObjectGDIP.SmoothingMode = SmoothingMode.AntiAlias;
|
|
graphicsObjectGDIP.InterpolationMode = InterpolationMode.NearestNeighbor;
|
|
graphicsObjectGDIP.CompositingMode = CompositingMode.SourceOver;
|
|
graphicsObjectGDIP.CompositingQuality = CompositingQuality.HighSpeed;
|
|
graphicsObjectGDIP.PixelOffsetMode = PixelOffsetMode.HighSpeed;
|
|
graphicsObjectGDIP.TextRenderingHint = System.Drawing.Text.TextRenderingHint.SystemDefault;
|
|
}
|
|
|
|
|
|
graphicsObject.Clear(Color.Gray);
|
|
|
|
if (_bgimage != null)
|
|
{
|
|
bgon = false;
|
|
graphicsObject.DrawImage(_bgimage, 0, 0, this.Width, this.Height);
|
|
|
|
if (hudon == false)
|
|
{
|
|
return;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
bgon = true;
|
|
}
|
|
|
|
graphicsObject.TranslateTransform(this.Width / 2, this.Height / 2);
|
|
|
|
graphicsObject.RotateTransform(-roll);
|
|
|
|
int fontsize = this.Height / 30; // = 10
|
|
int fontoffset = fontsize - 10;
|
|
|
|
float every5deg = -this.Height / 60;
|
|
|
|
float pitchoffset = -pitch * every5deg;
|
|
|
|
int halfwidth = this.Width / 2;
|
|
int halfheight = this.Height / 2;
|
|
|
|
SolidBrush whiteBrush = new SolidBrush(whitePen.Color);
|
|
|
|
Pen blackPen = new Pen(Color.Black, 2);
|
|
Pen greenPen = new Pen(Color.Green, 2);
|
|
Pen redPen = new Pen(Color.Red, 2);
|
|
|
|
// draw sky
|
|
if (bgon == true)
|
|
{
|
|
RectangleF bg = new RectangleF(-halfwidth * 2, -halfheight * 2, this.Width * 2, halfheight * 2 + pitchoffset);
|
|
|
|
if (bg.Height != 0)
|
|
{
|
|
LinearGradientBrush linearBrush = new LinearGradientBrush(bg, Color.Blue,
|
|
Color.LightBlue, LinearGradientMode.Vertical);
|
|
|
|
graphicsObject.FillRectangle(linearBrush, bg);
|
|
}
|
|
// draw ground
|
|
|
|
bg = new RectangleF(-halfwidth * 2, pitchoffset, this.Width * 2, halfheight * 2 - pitchoffset);
|
|
|
|
if (bg.Height != 0)
|
|
{
|
|
LinearGradientBrush linearBrush = new LinearGradientBrush(bg, Color.FromArgb(0x9b, 0xb8, 0x24),
|
|
Color.FromArgb(0x41, 0x4f, 0x07), LinearGradientMode.Vertical);
|
|
|
|
graphicsObject.FillRectangle(linearBrush, bg);
|
|
}
|
|
|
|
//draw centerline
|
|
graphicsObject.DrawLine(whitePen, -halfwidth * 2, pitchoffset + 0, halfwidth * 2, pitchoffset + 0);
|
|
}
|
|
|
|
graphicsObject.ResetTransform();
|
|
|
|
graphicsObject.SetClip(new Rectangle(0, this.Height / 14, this.Width, this.Height - this.Height / 14));
|
|
|
|
graphicsObject.TranslateTransform(this.Width / 2, this.Height / 2);
|
|
graphicsObject.RotateTransform(-roll);
|
|
|
|
//draw pitch
|
|
|
|
int lengthshort = this.Width / 12;
|
|
int lengthlong = this.Width / 8;
|
|
|
|
for (int a = -90; a <= 90; a += 5)
|
|
{
|
|
// limit to 40 degrees
|
|
if (a >= pitch - 34 && a <= pitch + 25)
|
|
{
|
|
if (a % 10 == 0)
|
|
{
|
|
if (a == 0)
|
|
{
|
|
graphicsObject.DrawLine(greenPen, this.Width / 2 - lengthlong - halfwidth, pitchoffset + a * every5deg, this.Width / 2 + lengthlong - halfwidth, pitchoffset + a * every5deg);
|
|
}
|
|
else
|
|
{
|
|
graphicsObject.DrawLine(whitePen, this.Width / 2 - lengthlong - halfwidth, pitchoffset + a * every5deg, this.Width / 2 + lengthlong - halfwidth, pitchoffset + a * every5deg);
|
|
}
|
|
drawstring(graphicsObject, a.ToString(), font, fontsize + 2, whiteBrush, this.Width / 2 - lengthlong - 30 - halfwidth - (int)(fontoffset * 1.7), pitchoffset + a * every5deg - 8 - fontoffset);
|
|
}
|
|
else
|
|
{
|
|
graphicsObject.DrawLine(whitePen, this.Width / 2 - lengthshort - halfwidth, pitchoffset + a * every5deg, this.Width / 2 + lengthshort - halfwidth, pitchoffset + a * every5deg);
|
|
//drawstring(e,a.ToString(), new Font("Arial", 10), whiteBrush, this.Width / 2 - lengthshort - 20 - halfwidth, this.Height / 2 + pitchoffset + a * every5deg - 8);
|
|
}
|
|
}
|
|
}
|
|
|
|
graphicsObject.ResetTransform();
|
|
|
|
// draw roll ind needle
|
|
|
|
graphicsObject.TranslateTransform(this.Width / 2, this.Height / 2 + this.Height / 14);
|
|
|
|
graphicsObject.RotateTransform(-roll);
|
|
|
|
Point[] pointlist = new Point[3];
|
|
|
|
lengthlong = this.Height / 66;
|
|
|
|
int extra = this.Height / 15 * 7;
|
|
|
|
pointlist[0] = new Point(0, -lengthlong * 2 - extra);
|
|
pointlist[1] = new Point(-lengthlong, -lengthlong - extra);
|
|
pointlist[2] = new Point(lengthlong, -lengthlong - extra);
|
|
|
|
if (Math.Abs(roll) > 45)
|
|
{
|
|
redPen.Width = 10;
|
|
}
|
|
|
|
graphicsObject.DrawPolygon(redPen, pointlist);
|
|
|
|
redPen.Width = 2;
|
|
|
|
for (int a = -45; a <= 45; a += 15)
|
|
{
|
|
graphicsObject.ResetTransform();
|
|
graphicsObject.TranslateTransform(this.Width / 2, this.Height / 2 + this.Height / 14);
|
|
graphicsObject.RotateTransform(a);
|
|
drawstring(graphicsObject, Math.Abs(a).ToString("##"), font, fontsize, whiteBrush, 0 - 6 - fontoffset, -lengthlong * 2 - extra);
|
|
graphicsObject.DrawLine(whitePen, 0, -halfheight, 0, -halfheight - 10);
|
|
}
|
|
|
|
graphicsObject.ResetTransform();
|
|
|
|
//draw centre / current att
|
|
|
|
Rectangle centercircle = new Rectangle(halfwidth - 10, halfheight - 10, 20, 20);
|
|
|
|
graphicsObject.DrawEllipse(redPen, centercircle);
|
|
graphicsObject.DrawLine(redPen, centercircle.Left - 10, halfheight, centercircle.Left, halfheight);
|
|
graphicsObject.DrawLine(redPen, centercircle.Right, halfheight, centercircle.Right + 10, halfheight);
|
|
graphicsObject.DrawLine(redPen, centercircle.Left + centercircle.Width / 2, centercircle.Top, centercircle.Left + centercircle.Width / 2, centercircle.Top - 10);
|
|
|
|
// draw roll ind
|
|
|
|
Rectangle arcrect = new Rectangle(this.Width / 2 - this.Height / 2, this.Height / 14, this.Height, this.Height);
|
|
|
|
graphicsObject.DrawArc(whitePen, arcrect, 180 + 45, 90);
|
|
|
|
//draw heading ind
|
|
|
|
graphicsObject.ResetClip();
|
|
|
|
Rectangle headbg = new Rectangle(0, 0, this.Width - 0, this.Height / 14);
|
|
|
|
graphicsObject.DrawRectangle(blackPen, headbg);
|
|
|
|
SolidBrush solidBrush = new SolidBrush(Color.FromArgb(0x55, 0xff, 0xff, 0xff));
|
|
|
|
graphicsObject.FillRectangle(solidBrush, headbg);
|
|
|
|
// center
|
|
graphicsObject.DrawLine(redPen, headbg.Width / 2, headbg.Bottom, headbg.Width / 2, headbg.Top);
|
|
|
|
//bottom line
|
|
graphicsObject.DrawLine(whitePen, headbg.Left + 5, headbg.Bottom - 5, headbg.Width - 5, headbg.Bottom - 5);
|
|
|
|
float space = (headbg.Width - 10) / 60.0f;
|
|
int start = (int)Math.Round((heading - 30),1);
|
|
|
|
// draw for outside the 60 deg
|
|
if (targetheading < start)
|
|
{
|
|
greenPen.Width = 6;
|
|
graphicsObject.DrawLine(greenPen, headbg.Left + 5 + space * 0, headbg.Bottom, headbg.Left + 5 + space * (0), headbg.Top);
|
|
}
|
|
if (targetheading > heading + 30)
|
|
{
|
|
greenPen.Width = 6;
|
|
graphicsObject.DrawLine(greenPen, headbg.Left + 5 + space * 60, headbg.Bottom, headbg.Left + 5 + space * (60), headbg.Top);
|
|
}
|
|
|
|
for (int a = start; a <= heading + 30; a += 1)
|
|
{
|
|
// target heading
|
|
if (((int)(a + 360) % 360) == (int)targetheading)
|
|
{
|
|
greenPen.Width = 6;
|
|
graphicsObject.DrawLine(greenPen, headbg.Left + 5 + space * (a - start), headbg.Bottom, headbg.Left + 5 + space * (a - start), headbg.Top);
|
|
}
|
|
|
|
if (((int)(a + 360) % 360) == (int)groundcourse)
|
|
{
|
|
blackPen.Width = 6;
|
|
graphicsObject.DrawLine(blackPen, headbg.Left + 5 + space * (a - start), headbg.Bottom, headbg.Left + 5 + space * (a - start), headbg.Top);
|
|
blackPen.Width = 2;
|
|
}
|
|
|
|
if ((int)a % 5 == 0)
|
|
{
|
|
//Console.WriteLine(a + " " + Math.Round(a, 1, MidpointRounding.AwayFromZero));
|
|
//Console.WriteLine(space +" " + a +" "+ (headbg.Left + 5 + space * (a - start)));
|
|
graphicsObject.DrawLine(whitePen, headbg.Left + 5 + space * (a - start), headbg.Bottom - 5, headbg.Left + 5 + space * (a - start), headbg.Bottom - 10);
|
|
int disp = (int)a;
|
|
if (disp < 0)
|
|
disp += 360;
|
|
disp = disp % 360;
|
|
if (disp == 0)
|
|
{
|
|
drawstring(graphicsObject, "N".PadLeft(2), font, fontsize + 4, whiteBrush, headbg.Left - 5 + space * (a - start) - fontoffset, headbg.Bottom - 24 - (int)(fontoffset * 1.7));
|
|
}
|
|
else if (disp == 90)
|
|
{
|
|
drawstring(graphicsObject, "E".PadLeft(2), font, fontsize + 4, whiteBrush, headbg.Left - 5 + space * (a - start) - fontoffset, headbg.Bottom - 24 - (int)(fontoffset * 1.7));
|
|
}
|
|
else if (disp == 180)
|
|
{
|
|
drawstring(graphicsObject, "S".PadLeft(2), font, fontsize + 4, whiteBrush, headbg.Left - 5 + space * (a - start) - fontoffset, headbg.Bottom - 24 - (int)(fontoffset * 1.7));
|
|
}
|
|
else if (disp == 270)
|
|
{
|
|
drawstring(graphicsObject, "W".PadLeft(2), font, fontsize + 4, whiteBrush, headbg.Left - 5 + space * (a - start) - fontoffset, headbg.Bottom - 24 - (int)(fontoffset * 1.7));
|
|
}
|
|
else
|
|
{
|
|
drawstring(graphicsObject, (disp % 360).ToString().PadLeft(3), font, fontsize, whiteBrush, headbg.Left - 5 + space * (a - start) - fontoffset, headbg.Bottom - 24 - (int)(fontoffset * 1.7));
|
|
}
|
|
}
|
|
}
|
|
|
|
// Console.WriteLine("HUD 0 " + (DateTime.Now - starttime).TotalMilliseconds + " " + DateTime.Now.Millisecond);
|
|
|
|
// xtrack error
|
|
// center
|
|
|
|
float xtspace = this.Width / 10.0f / 3.0f;
|
|
int pad = 10;
|
|
|
|
float myxtrack_error = xtrack_error;
|
|
|
|
myxtrack_error = Math.Min(myxtrack_error, 40);
|
|
myxtrack_error = Math.Max(myxtrack_error, -40);
|
|
|
|
// xtrack - distance scale - space
|
|
float loc = myxtrack_error / 20.0f * xtspace;
|
|
|
|
// current xtrack
|
|
if (Math.Abs(myxtrack_error) == 40)
|
|
{
|
|
greenPen.Color = Color.FromArgb(128, greenPen.Color);
|
|
}
|
|
|
|
graphicsObject.DrawLine(greenPen, this.Width / 10 + loc, headbg.Bottom + 5, this.Width / 10 + loc, headbg.Bottom + this.Height / 10);
|
|
|
|
greenPen.Color = Color.FromArgb(255, greenPen.Color);
|
|
|
|
graphicsObject.DrawLine(whitePen, this.Width / 10, headbg.Bottom + 5, this.Width / 10, headbg.Bottom + this.Height / 10);
|
|
|
|
graphicsObject.DrawLine(whitePen, this.Width / 10 - xtspace, headbg.Bottom + 5 + pad, this.Width / 10 - xtspace, headbg.Bottom + this.Height / 10 - pad);
|
|
|
|
graphicsObject.DrawLine(whitePen, this.Width / 10 - xtspace * 2, headbg.Bottom + 5 + pad, this.Width / 10 - xtspace * 2, headbg.Bottom + this.Height / 10 - pad);
|
|
|
|
graphicsObject.DrawLine(whitePen, this.Width / 10 + xtspace, headbg.Bottom + 5 + pad, this.Width / 10 + xtspace, headbg.Bottom + this.Height / 10 - pad);
|
|
|
|
graphicsObject.DrawLine(whitePen, this.Width / 10 + xtspace * 2, headbg.Bottom + 5 + pad, this.Width / 10 + xtspace * 2, headbg.Bottom + this.Height / 10 - pad);
|
|
|
|
// rate of turn
|
|
|
|
whitePen.Width = 4;
|
|
graphicsObject.DrawLine(whitePen, this.Width / 10 - xtspace * 2 - xtspace / 2, headbg.Bottom + this.Height / 10 + 10, this.Width / 10 - xtspace * 2 - xtspace / 2 + xtspace, headbg.Bottom + this.Height / 10 + 10);
|
|
|
|
graphicsObject.DrawLine(whitePen, this.Width / 10 - xtspace * 0 - xtspace / 2, headbg.Bottom + this.Height / 10 + 10, this.Width / 10 - xtspace * 0 - xtspace / 2 + xtspace, headbg.Bottom + this.Height / 10 + 10);
|
|
|
|
graphicsObject.DrawLine(whitePen, this.Width / 10 + xtspace * 2 - xtspace / 2, headbg.Bottom + this.Height / 10 + 10, this.Width / 10 + xtspace * 2 - xtspace / 2 + xtspace, headbg.Bottom + this.Height / 10 + 10);
|
|
|
|
float myturnrate = turnrate;
|
|
float trwidth = (this.Width / 10 + xtspace * 2 - xtspace / 2) - (this.Width / 10 - xtspace * 2 - xtspace / 2);
|
|
|
|
float range = 12;
|
|
|
|
myturnrate = Math.Min(myturnrate, range / 2);
|
|
myturnrate = Math.Max(myturnrate, (range / 2) * -1.0f);
|
|
|
|
loc = myturnrate / range * trwidth;
|
|
|
|
greenPen.Width = 4;
|
|
|
|
if (Math.Abs(myturnrate) == (range / 2))
|
|
{
|
|
greenPen.Color = Color.FromArgb(128, greenPen.Color);
|
|
}
|
|
|
|
graphicsObject.DrawLine(greenPen, this.Width / 10 + loc - xtspace / 2, headbg.Bottom + this.Height / 10 + 10 + 3, this.Width / 10 + loc + xtspace / 2, headbg.Bottom + this.Height / 10 + 10 + 3);
|
|
graphicsObject.DrawLine(greenPen, this.Width / 10 + loc, headbg.Bottom + this.Height / 10 + 10 + 3, this.Width / 10 + loc, headbg.Bottom + this.Height / 10 + 10 + 10);
|
|
|
|
greenPen.Color = Color.FromArgb(255, greenPen.Color);
|
|
|
|
whitePen.Width = 2;
|
|
|
|
|
|
|
|
// left scroller
|
|
|
|
Rectangle scrollbg = new Rectangle(0, halfheight - halfheight / 2, this.Width / 10, this.Height / 2);
|
|
|
|
graphicsObject.DrawRectangle(whitePen, scrollbg);
|
|
|
|
graphicsObject.FillRectangle(solidBrush, scrollbg);
|
|
|
|
Point[] arrow = new Point[5];
|
|
|
|
arrow[0] = new Point(0, -10);
|
|
arrow[1] = new Point(scrollbg.Width - 10, -10);
|
|
arrow[2] = new Point(scrollbg.Width - 5, 0);
|
|
arrow[3] = new Point(scrollbg.Width - 10, 10);
|
|
arrow[4] = new Point(0, 10);
|
|
|
|
graphicsObject.TranslateTransform(0, this.Height / 2);
|
|
|
|
int viewrange = 26;
|
|
|
|
float speed = airspeed;
|
|
if (speed == 0)
|
|
speed = groundspeed;
|
|
|
|
space = (scrollbg.Height) / (float)viewrange;
|
|
start = ((int)speed - viewrange / 2);
|
|
|
|
if (start > targetspeed)
|
|
{
|
|
greenPen.Color = Color.FromArgb(128, greenPen.Color);
|
|
greenPen.Width = 6;
|
|
graphicsObject.DrawLine(greenPen, scrollbg.Left, scrollbg.Top, scrollbg.Left + scrollbg.Width, scrollbg.Top);
|
|
greenPen.Color = Color.FromArgb(255, greenPen.Color);
|
|
}
|
|
if ((speed + viewrange / 2) < targetspeed)
|
|
{
|
|
greenPen.Color = Color.FromArgb(128, greenPen.Color);
|
|
greenPen.Width = 6;
|
|
graphicsObject.DrawLine(greenPen, scrollbg.Left, scrollbg.Top - space * viewrange, scrollbg.Left + scrollbg.Width, scrollbg.Top - space * viewrange);
|
|
greenPen.Color = Color.FromArgb(255, greenPen.Color);
|
|
}
|
|
|
|
for (int a = (int)start; a <= (speed + viewrange / 2); a += 1)
|
|
{
|
|
if (a == (int)targetspeed && targetspeed != 0)
|
|
{
|
|
greenPen.Width = 6;
|
|
graphicsObject.DrawLine(greenPen, scrollbg.Left, scrollbg.Top - space * (a - start), scrollbg.Left + scrollbg.Width, scrollbg.Top - space * (a - start));
|
|
}
|
|
if (a % 5 == 0)
|
|
{
|
|
//Console.WriteLine(a + " " + scrollbg.Right + " " + (scrollbg.Top - space * (a - start)) + " " + (scrollbg.Right - 20) + " " + (scrollbg.Top - space * (a - start)));
|
|
graphicsObject.DrawLine(whitePen, scrollbg.Right, scrollbg.Top - space * (a - start), scrollbg.Right - 10, scrollbg.Top - space * (a - start));
|
|
drawstring(graphicsObject, a.ToString().PadLeft(5), font, fontsize, whiteBrush, scrollbg.Right - 50 - 4 * fontoffset, scrollbg.Top - space * (a - start) - 6 - fontoffset);
|
|
}
|
|
}
|
|
|
|
graphicsObject.DrawPolygon(blackPen, arrow);
|
|
graphicsObject.FillPolygon(Brushes.Black, arrow);
|
|
drawstring(graphicsObject, ((int)speed).ToString("0"), font, 10, Brushes.AliceBlue, 0, -9);
|
|
|
|
graphicsObject.ResetTransform();
|
|
|
|
// extra text data
|
|
|
|
drawstring(graphicsObject, "AS " + airspeed.ToString("0.0"), font, fontsize, whiteBrush, 1, scrollbg.Bottom + 5);
|
|
drawstring(graphicsObject, "GS " + groundspeed.ToString("0.0"), font, fontsize, whiteBrush, 1, scrollbg.Bottom + fontsize + 2 + 10);
|
|
|
|
//drawstring(e,, new Font("Arial", fontsize + 2), whiteBrush, 1, scrollbg.Bottom + fontsize + 2 + 10);
|
|
|
|
// right scroller
|
|
|
|
scrollbg = new Rectangle(this.Width - this.Width / 10, halfheight - halfheight / 2, this.Width / 10, this.Height / 2);
|
|
|
|
graphicsObject.DrawRectangle(whitePen, scrollbg);
|
|
|
|
graphicsObject.FillRectangle(solidBrush, scrollbg);
|
|
|
|
arrow = new Point[5];
|
|
|
|
arrow[0] = new Point(0, -10);
|
|
arrow[1] = new Point(scrollbg.Width - 10, -10);
|
|
arrow[2] = new Point(scrollbg.Width - 5, 0);
|
|
arrow[3] = new Point(scrollbg.Width - 10, 10);
|
|
arrow[4] = new Point(0, 10);
|
|
|
|
|
|
|
|
graphicsObject.TranslateTransform(0, this.Height / 2);
|
|
|
|
|
|
|
|
|
|
viewrange = 26;
|
|
|
|
space = (scrollbg.Height) / (float)viewrange;
|
|
start = ((int)alt - viewrange / 2);
|
|
|
|
if (start > targetalt)
|
|
{
|
|
greenPen.Color = Color.FromArgb(128, greenPen.Color);
|
|
greenPen.Width = 6;
|
|
graphicsObject.DrawLine(greenPen, scrollbg.Left, scrollbg.Top, scrollbg.Left + scrollbg.Width, scrollbg.Top);
|
|
greenPen.Color = Color.FromArgb(255, greenPen.Color);
|
|
}
|
|
if ((alt + viewrange / 2) < targetalt)
|
|
{
|
|
greenPen.Color = Color.FromArgb(128, greenPen.Color);
|
|
greenPen.Width = 6;
|
|
graphicsObject.DrawLine(greenPen, scrollbg.Left, scrollbg.Top - space * viewrange, scrollbg.Left + scrollbg.Width, scrollbg.Top - space * viewrange);
|
|
greenPen.Color = Color.FromArgb(255, greenPen.Color);
|
|
}
|
|
|
|
for (int a = (int)start; a <= (alt + viewrange / 2); a += 1)
|
|
{
|
|
if (a == Math.Round(targetalt) && targetalt != 0)
|
|
{
|
|
greenPen.Width = 6;
|
|
graphicsObject.DrawLine(greenPen, scrollbg.Left, scrollbg.Top - space * (a - start), scrollbg.Left + scrollbg.Width, scrollbg.Top - space * (a - start));
|
|
}
|
|
if (a % 5 == 0)
|
|
{
|
|
//Console.WriteLine(a + " " + scrollbg.Left + " " + (scrollbg.Top - space * (a - start)) + " " + (scrollbg.Left + 20) + " " + (scrollbg.Top - space * (a - start)));
|
|
graphicsObject.DrawLine(whitePen, scrollbg.Left, scrollbg.Top - space * (a - start), scrollbg.Left + 10, scrollbg.Top - space * (a - start));
|
|
drawstring(graphicsObject, a.ToString().PadLeft(5), font, fontsize, whiteBrush, scrollbg.Left + 7 + (int)(0 * fontoffset), scrollbg.Top - space * (a - start) - 6 - fontoffset);
|
|
}
|
|
}
|
|
|
|
greenPen.Width = 4;
|
|
|
|
// vsi
|
|
|
|
graphicsObject.ResetTransform();
|
|
|
|
PointF[] poly = new PointF[4];
|
|
|
|
poly[0] = new PointF(scrollbg.Left, scrollbg.Top);
|
|
poly[1] = new PointF(scrollbg.Left - scrollbg.Width / 4, scrollbg.Top + scrollbg.Width / 4);
|
|
poly[2] = new PointF(scrollbg.Left - scrollbg.Width / 4, scrollbg.Bottom - scrollbg.Width / 4);
|
|
poly[3] = new PointF(scrollbg.Left, scrollbg.Bottom);
|
|
|
|
//verticalspeed
|
|
|
|
viewrange = 12;
|
|
|
|
verticalspeed = Math.Min(viewrange / 2, verticalspeed);
|
|
verticalspeed = Math.Max(viewrange / -2, verticalspeed);
|
|
|
|
float scaledvalue = verticalspeed / -viewrange * (scrollbg.Bottom - scrollbg.Top);
|
|
|
|
float linespace = (float)1 / -viewrange * (scrollbg.Bottom - scrollbg.Top);
|
|
|
|
PointF[] polyn = new PointF[4];
|
|
|
|
polyn[0] = new PointF(scrollbg.Left, scrollbg.Top + (scrollbg.Bottom - scrollbg.Top) / 2);
|
|
polyn[1] = new PointF(scrollbg.Left - scrollbg.Width / 4, scrollbg.Top + (scrollbg.Bottom - scrollbg.Top) / 2);
|
|
polyn[2] = polyn[1];
|
|
float peak = 0;
|
|
if (scaledvalue > 0)
|
|
{
|
|
peak = -scrollbg.Width / 4;
|
|
if (scrollbg.Top + (scrollbg.Bottom - scrollbg.Top) / 2 + scaledvalue + peak < scrollbg.Top + (scrollbg.Bottom - scrollbg.Top) / 2)
|
|
peak = -scaledvalue;
|
|
}
|
|
else if (scaledvalue < 0)
|
|
{
|
|
peak = +scrollbg.Width / 4;
|
|
if (scrollbg.Top + (scrollbg.Bottom - scrollbg.Top) / 2 + scaledvalue + peak > scrollbg.Top + (scrollbg.Bottom - scrollbg.Top) / 2)
|
|
peak = -scaledvalue;
|
|
}
|
|
|
|
polyn[2] = new PointF(scrollbg.Left - scrollbg.Width / 4, scrollbg.Top + (scrollbg.Bottom - scrollbg.Top) / 2 + scaledvalue + peak);
|
|
polyn[3] = new PointF(scrollbg.Left, scrollbg.Top + (scrollbg.Bottom - scrollbg.Top) / 2 + scaledvalue);
|
|
|
|
//graphicsObject.DrawPolygon(redPen, poly);
|
|
graphicsObject.FillPolygon(Brushes.Blue, polyn);
|
|
|
|
// draw outsidebox
|
|
graphicsObject.DrawPolygon(whitePen, poly);
|
|
|
|
for (int a = 1; a < viewrange; a++)
|
|
{
|
|
graphicsObject.DrawLine(whitePen, scrollbg.Left - scrollbg.Width / 4, scrollbg.Top - linespace * a, scrollbg.Left - scrollbg.Width / 8, scrollbg.Top - linespace * a);
|
|
}
|
|
|
|
// draw arrow and text
|
|
|
|
graphicsObject.ResetTransform();
|
|
graphicsObject.TranslateTransform(this.Width, this.Height / 2);
|
|
graphicsObject.RotateTransform(180);
|
|
|
|
graphicsObject.DrawPolygon(blackPen, arrow);
|
|
graphicsObject.FillPolygon(Brushes.Black, arrow);
|
|
graphicsObject.ResetTransform();
|
|
graphicsObject.TranslateTransform(0, this.Height / 2);
|
|
|
|
drawstring(graphicsObject, ((int)alt).ToString("0"), font, 10, Brushes.AliceBlue, scrollbg.Left + 10, -9);
|
|
graphicsObject.ResetTransform();
|
|
|
|
// mode and wp dist and wp
|
|
|
|
drawstring(graphicsObject, mode, font, fontsize, whiteBrush, scrollbg.Left - 30, scrollbg.Bottom + 5);
|
|
drawstring(graphicsObject, (int)disttowp + ">" + wpno, font, fontsize, whiteBrush, scrollbg.Left - 30, scrollbg.Bottom + fontsize + 2 + 10);
|
|
|
|
graphicsObject.DrawLine(greenPen, scrollbg.Left - 5, scrollbg.Top - (int)(fontsize * 2.2) - 2 - 20, scrollbg.Left - 5, scrollbg.Top - (int)(fontsize) - 2 - 20);
|
|
graphicsObject.DrawLine(greenPen, scrollbg.Left - 10, scrollbg.Top - (int)(fontsize * 2.2) - 2 - 15, scrollbg.Left - 10, scrollbg.Top - (int)(fontsize) - 2 - 20);
|
|
graphicsObject.DrawLine(greenPen, scrollbg.Left - 15, scrollbg.Top - (int)(fontsize * 2.2) - 2 - 10, scrollbg.Left - 15, scrollbg.Top - (int)(fontsize ) - 2 - 20);
|
|
|
|
drawstring(graphicsObject, ArdupilotMega.MainV2.cs.linkqualitygcs.ToString("0") + "%", font, fontsize, whiteBrush, scrollbg.Left, scrollbg.Top - (int)(fontsize * 2.2) - 2 - 20);
|
|
if (ArdupilotMega.MainV2.cs.linkqualitygcs == 0)
|
|
{
|
|
graphicsObject.DrawLine(redPen, scrollbg.Left, scrollbg.Top - (int)(fontsize * 2.2) - 2 - 20, scrollbg.Left + 50, scrollbg.Top - (int)(fontsize * 2.2) - 2);
|
|
|
|
graphicsObject.DrawLine(redPen, scrollbg.Left, scrollbg.Top - (int)(fontsize * 2.2) - 2, scrollbg.Left + 50, scrollbg.Top - (int)(fontsize * 2.2) - 2 - 20);
|
|
}
|
|
drawstring(graphicsObject, ArdupilotMega.MainV2.cs.datetime.ToString("HH:mm:ss"), font, fontsize, whiteBrush, scrollbg.Left - 20, scrollbg.Top - fontsize - 2 - 20);
|
|
|
|
|
|
// battery
|
|
|
|
graphicsObject.ResetTransform();
|
|
|
|
drawstring(graphicsObject, resources.GetString("Bat"), font, fontsize + 2, whiteBrush, fontsize, this.Height - 30 - fontoffset);
|
|
drawstring(graphicsObject, batterylevel.ToString("0.00v"), font, fontsize + 2, whiteBrush, fontsize * 4, this.Height - 30 - fontoffset);
|
|
drawstring(graphicsObject, batteryremaining.ToString("0%"), font, fontsize + 2, whiteBrush, fontsize * 9, this.Height - 30 - fontoffset);
|
|
|
|
// gps
|
|
|
|
string gps = "";
|
|
|
|
if (gpsfix == 0)
|
|
{
|
|
gps = resources.GetString("GPS: No GPS.Text");
|
|
}
|
|
else if (gpsfix == 1)
|
|
{
|
|
gps = resources.GetString("GPS: No Fix.Text");
|
|
}
|
|
else if (gpsfix == 2)
|
|
{
|
|
gps = resources.GetString("GPS: 2D Fix.Text");
|
|
}
|
|
else if (gpsfix == 3)
|
|
{
|
|
gps = resources.GetString("GPS: 3D Fix.Text");
|
|
}
|
|
|
|
drawstring(graphicsObject, gps, font, fontsize + 2, whiteBrush, this.Width - 10 * fontsize, this.Height - 30 - fontoffset);
|
|
|
|
if (!opengl)
|
|
{
|
|
e.Graphics.DrawImageUnscaled(objBitmap, 0, 0);
|
|
}
|
|
|
|
if (DesignMode)
|
|
{
|
|
return;
|
|
}
|
|
|
|
// Console.WriteLine("HUD 1 " + (DateTime.Now - starttime).TotalMilliseconds + " " + DateTime.Now.Millisecond);
|
|
|
|
ImageCodecInfo ici = GetImageCodec("image/jpeg");
|
|
EncoderParameters eps = new EncoderParameters(1);
|
|
eps.Param[0] = new EncoderParameter(System.Drawing.Imaging.Encoder.Quality, 50L); // or whatever other quality value you want
|
|
|
|
lock (streamlock)
|
|
{
|
|
if (streamjpgenable || streamjpg == null) // init image and only update when needed
|
|
{
|
|
if (opengl)
|
|
{
|
|
objBitmap = GrabScreenshot();
|
|
}
|
|
streamjpg = new MemoryStream();
|
|
objBitmap.Save(streamjpg, ici, eps);
|
|
//objBitmap.Save(streamjpg,ImageFormat.Bmp);
|
|
}
|
|
}
|
|
}
|
|
catch (Exception ex)
|
|
{
|
|
Console.WriteLine("hud error "+ex.ToString());
|
|
//MessageBox.Show(ex.ToString());
|
|
}
|
|
}
|
|
|
|
protected override void OnPaintBackground(PaintEventArgs e)
|
|
{
|
|
//base.OnPaintBackground(e);
|
|
}
|
|
|
|
ImageCodecInfo GetImageCodec(string mimetype)
|
|
{
|
|
foreach (ImageCodecInfo ici in ImageCodecInfo.GetImageEncoders())
|
|
{
|
|
if (ici.MimeType == mimetype) return ici;
|
|
}
|
|
return null;
|
|
}
|
|
|
|
// Returns a System.Drawing.Bitmap with the contents of the current framebuffer
|
|
public new Bitmap GrabScreenshot()
|
|
{
|
|
if (GraphicsContext.CurrentContext == null)
|
|
throw new GraphicsContextMissingException();
|
|
|
|
Bitmap bmp = new Bitmap(this.ClientSize.Width, this.ClientSize.Height);
|
|
System.Drawing.Imaging.BitmapData data =
|
|
bmp.LockBits(this.ClientRectangle, System.Drawing.Imaging.ImageLockMode.WriteOnly, System.Drawing.Imaging.PixelFormat.Format24bppRgb);
|
|
GL.ReadPixels(0, 0, this.ClientSize.Width, this.ClientSize.Height,OpenTK.Graphics.OpenGL.PixelFormat.Bgr, PixelType.UnsignedByte, data.Scan0);
|
|
bmp.UnlockBits(data);
|
|
|
|
bmp.RotateFlip(RotateFlipType.RotateNoneFlipY);
|
|
return bmp;
|
|
}
|
|
|
|
|
|
float wrap360(float noin)
|
|
{
|
|
if (noin < 0)
|
|
return noin + 360;
|
|
return noin;
|
|
}
|
|
|
|
/// <summary>
|
|
/// pen for drawstring
|
|
/// </summary>
|
|
Pen P = new Pen(Color.FromArgb(0x26, 0x27, 0x28), 2f);
|
|
/// <summary>
|
|
/// pth for drawstring
|
|
/// </summary>
|
|
GraphicsPath pth = new GraphicsPath();
|
|
|
|
void drawstring(HUD e, string text, Font font, float fontsize, Brush brush, float x, float y)
|
|
{
|
|
if (!opengl)
|
|
{
|
|
drawstring(graphicsObjectGDIP, text, font, fontsize, brush, x, y);
|
|
return;
|
|
}
|
|
|
|
if (text == null || text == "")
|
|
return;
|
|
/*
|
|
OpenTK.Graphics.Begin();
|
|
GL.PushMatrix();
|
|
GL.Translate(x, y, 0);
|
|
printer.Print(text, font, c);
|
|
GL.PopMatrix(); printer.End();
|
|
*/
|
|
|
|
char[] chars = text.ToCharArray();
|
|
|
|
float maxy = 1;
|
|
|
|
foreach (char cha in chars)
|
|
{
|
|
int charno = (int)cha;
|
|
|
|
int charid = charno + (128 * (int)fontsize); // 128 * 40 * 5;128
|
|
|
|
if (charbitmaps[charid] == null)
|
|
{
|
|
charbitmaps[charid] = new Bitmap(128, 128, System.Drawing.Imaging.PixelFormat.Format32bppArgb);
|
|
|
|
charbitmaps[charid].MakeTransparent(Color.Transparent);
|
|
|
|
//charbitmaptexid
|
|
|
|
float maxx = this.Width / 150; // for space
|
|
|
|
|
|
// create bitmap
|
|
using (Graphics gfx = Graphics.FromImage(charbitmaps[charid]))
|
|
{
|
|
pth.Reset();
|
|
|
|
if (text != null)
|
|
pth.AddString(cha + "", font.FontFamily, 0, fontsize + 5, new Point((int)0, (int)0), StringFormat.GenericTypographic);
|
|
|
|
gfx.SmoothingMode = System.Drawing.Drawing2D.SmoothingMode.AntiAlias;
|
|
|
|
gfx.DrawPath(P, pth);
|
|
|
|
//Draw the face
|
|
|
|
gfx.FillPath(brush, pth);
|
|
|
|
|
|
if (pth.PointCount > 0)
|
|
{
|
|
foreach (PointF pnt in pth.PathPoints)
|
|
{
|
|
if (pnt.X > maxx)
|
|
maxx = pnt.X;
|
|
|
|
if (pnt.Y > maxy)
|
|
maxy = pnt.Y;
|
|
}
|
|
}
|
|
}
|
|
|
|
charwidth[charid] = (int)(maxx + 2);
|
|
|
|
//charbitmaps[charid] = charbitmaps[charid].Clone(new RectangleF(0, 0, maxx + 2, maxy + 2), charbitmaps[charid].PixelFormat);
|
|
|
|
//charbitmaps[charno * (int)fontsize].Save(charno + " " + (int)fontsize + ".png");
|
|
|
|
// create texture
|
|
int textureId;
|
|
GL.TexEnv(TextureEnvTarget.TextureEnv, TextureEnvParameter.TextureEnvMode, (float)TextureEnvModeCombine.Replace);//Important, or wrong color on some computers
|
|
|
|
Bitmap bitmap = charbitmaps[charid];
|
|
GL.GenTextures(1, out textureId);
|
|
GL.BindTexture(TextureTarget.Texture2D, textureId);
|
|
|
|
BitmapData data = bitmap.LockBits(new System.Drawing.Rectangle(0, 0, bitmap.Width, bitmap.Height), ImageLockMode.ReadOnly, System.Drawing.Imaging.PixelFormat.Format32bppArgb);
|
|
|
|
GL.TexImage2D(TextureTarget.Texture2D, 0, PixelInternalFormat.Rgba, data.Width, data.Height, 0, OpenTK.Graphics.OpenGL.PixelFormat.Bgra, PixelType.UnsignedByte, data.Scan0);
|
|
|
|
GL.TexParameter(TextureTarget.Texture2D, TextureParameterName.TextureMinFilter, (int)TextureMinFilter.Linear);
|
|
GL.TexParameter(TextureTarget.Texture2D, TextureParameterName.TextureMagFilter, (int)TextureMagFilter.Linear);
|
|
|
|
// GL.TexParameter(TextureTarget.Texture2D, TextureParameterName.TextureMagFilter, (int)All.Nearest);
|
|
//GL.TexParameter(TextureTarget.Texture2D, TextureParameterName.TextureMinFilter, (int)All.Nearest);
|
|
GL.Finish();
|
|
bitmap.UnlockBits(data);
|
|
|
|
charbitmaptexid[charid] = textureId;
|
|
}
|
|
|
|
//GL.Enable(EnableCap.Blend);
|
|
GL.BlendFunc(BlendingFactorSrc.SrcAlpha, BlendingFactorDest.OneMinusSrcAlpha);
|
|
|
|
GL.Enable(EnableCap.Texture2D);
|
|
GL.BindTexture(TextureTarget.Texture2D, charbitmaptexid[charid]);
|
|
|
|
float scale = 1.0f;
|
|
|
|
GL.Begin(BeginMode.Quads);
|
|
GL.TexCoord2(0, 0); GL.Vertex2(x, y);
|
|
GL.TexCoord2(1, 0); GL.Vertex2(x + charbitmaps[charid].Width * scale, y);
|
|
GL.TexCoord2(1, 1); GL.Vertex2(x + charbitmaps[charid].Width * scale, y + charbitmaps[charid].Height * scale);
|
|
GL.TexCoord2(0, 1); GL.Vertex2(x + 0, y + charbitmaps[charid].Height * scale);
|
|
GL.End();
|
|
|
|
//GL.Disable(EnableCap.Blend);
|
|
GL.Disable(EnableCap.Texture2D);
|
|
|
|
x += charwidth[charid] * scale;
|
|
}
|
|
}
|
|
|
|
void drawstring(Graphics e, string text, Font font, float fontsize, Brush brush, float x, float y)
|
|
{
|
|
if (text == null || text == "")
|
|
return;
|
|
|
|
pth.Reset();
|
|
|
|
|
|
if (text != null)
|
|
pth.AddString(text, font.FontFamily, 0, fontsize + 5, new Point((int)x, (int)y), StringFormat.GenericTypographic);
|
|
|
|
//Draw the edge
|
|
// this uses lots of cpu time
|
|
|
|
//e.SmoothingMode = SmoothingMode.HighSpeed;
|
|
|
|
e.DrawPath(P, pth);
|
|
|
|
//Draw the face
|
|
|
|
e.FillPath(brush, pth);
|
|
|
|
//pth.Dispose();
|
|
}
|
|
|
|
protected override void OnHandleCreated(EventArgs e)
|
|
{
|
|
try
|
|
{
|
|
if (opengl)
|
|
{
|
|
base.OnHandleCreated(e);
|
|
}
|
|
}
|
|
catch (Exception ex) { Console.WriteLine(ex.ToString()); opengl = false; } // macs fail here
|
|
}
|
|
|
|
protected override void OnHandleDestroyed(EventArgs e)
|
|
{
|
|
try
|
|
{
|
|
if (opengl)
|
|
{
|
|
base.OnHandleDestroyed(e);
|
|
}
|
|
}
|
|
catch (Exception ex) { Console.WriteLine(ex.ToString()); opengl = false; }
|
|
}
|
|
|
|
protected override void OnResize(EventArgs e)
|
|
{
|
|
if (DesignMode)
|
|
return;
|
|
this.Height = (int)(this.Width / 1.333f);
|
|
base.OnResize(e);
|
|
|
|
graphicsObjectGDIP = Graphics.FromImage(objBitmap);
|
|
|
|
charbitmaps = new Bitmap[charbitmaps.Length];
|
|
|
|
try
|
|
{
|
|
if (opengl)
|
|
{
|
|
foreach (int texid in charbitmaptexid)
|
|
{
|
|
if (texid != 0)
|
|
GL.DeleteTexture(texid);
|
|
}
|
|
}
|
|
}
|
|
catch { }
|
|
|
|
GC.Collect();
|
|
|
|
try
|
|
{
|
|
if (opengl)
|
|
{
|
|
GL.MatrixMode(MatrixMode.Projection);
|
|
GL.LoadIdentity();
|
|
GL.Ortho(0, Width, Height, 0, -1, 1);
|
|
GL.MatrixMode(MatrixMode.Modelview);
|
|
GL.LoadIdentity();
|
|
|
|
GL.Viewport(0, 0, Width, Height);
|
|
}
|
|
}
|
|
catch { }
|
|
|
|
}
|
|
}
|
|
} |