GeCaoAPP.git - Gitblit

package zhangaiwu;
import javax.swing.*;
import java.awt.*;
import java.awt.geom.AffineTransform;
import java.awt.geom.Ellipse2D;
import java.awt.geom.Path2D;
import java.awt.geom.Point2D;
import java.util.List;
import java.util.ArrayList;
 
/**
 * 障碍物绘制类 - 负责绘制地块中的障碍物
 */
public class Obstacledraw {
    
    // 颜色定义
    private static final Color CIRCLE_FILL_COLOR = new Color(255, 182, 193, 120); // 圆形填充色 - 浅粉红
    private static final Color CIRCLE_BORDER_COLOR = new Color(199, 21, 133);    // 圆形边框色 - 深粉红
    private static final Color POLYGON_FILL_COLOR = new Color(173, 216, 230, 120); // 多边形填充色 - 浅蓝
    private static final Color POLYGON_BORDER_COLOR = new Color(25, 25, 112);    // 多边形边框色 - 深蓝
    private static final Color OBSTACLE_LABEL_COLOR = Color.BLACK;
    private static final Color OBSTACLE_POINT_COLOR = Color.RED;
    
    // 尺寸定义
    private static final double OBSTACLE_POINT_SIZE = 0.1; // 障碍物控制点大小（米）
    private static final float DEFAULT_BORDER_WIDTH = 1.0f;
    private static final float SELECTED_BORDER_WIDTH = 2.5f;
    
    /**
     * 绘制地块的所有障碍物
     * 
     * @param g2d 图形上下文
     * @param obstacles 障碍物列表
     * @param scale 缩放比例
     * @param selectedObstacleName 选中的障碍物名称（可为null）
     */
    public static void drawObstacles(Graphics2D g2d, List<Obstacledge.Obstacle> obstacles, 
                                     double scale, String selectedObstacleName) {
        if (obstacles == null || obstacles.isEmpty()) {
            return;
        }
        
        // 保存原始变换
        AffineTransform originalTransform = g2d.getTransform();
        
        // 应用反锯齿
        g2d.setRenderingHint(RenderingHints.KEY_ANTIALIASING, RenderingHints.VALUE_ANTIALIAS_ON);
        
        // 绘制每个障碍物
        for (Obstacledge.Obstacle obstacle : obstacles) {
            if (obstacle == null || !obstacle.isValid()) {
                continue;
            }
            
            // 检查是否被选中
            boolean isSelected = selectedObstacleName != null && 
                                selectedObstacleName.equals(obstacle.getObstacleName());
            
            // 根据形状绘制
            switch (obstacle.getShape()) {
                case CIRCLE:
                    drawCircleObstacle(g2d, obstacle, scale, isSelected);
                    break;
                case POLYGON:
                    drawPolygonObstacle(g2d, obstacle, scale, isSelected);
                    break;
            }
            
            // 绘制障碍物标签
            drawObstacleLabel(g2d, obstacle, scale);
        }
        
        // 恢复原始变换
        g2d.setTransform(originalTransform);
    }
    
    /**
     * 绘制圆形障碍物
     */
    private static void drawCircleObstacle(Graphics2D g2d, Obstacledge.Obstacle obstacle, 
                                           double scale, boolean isSelected) {
        List<Obstacledge.XYCoordinate> xyCoords = obstacle.getXyCoordinates();
        if (xyCoords.size() < 2) {
            return;
        }
        
        // 获取圆心和圆上一点
        Obstacledge.XYCoordinate center = xyCoords.get(0);
        Obstacledge.XYCoordinate pointOnCircle = xyCoords.get(1);
        
        // 计算半径
        double dx = pointOnCircle.getX() - center.getX();
        double dy = pointOnCircle.getY() - center.getY();
        double radius = Math.sqrt(dx * dx + dy * dy);
        
        if (radius <= 0) {
            return;
        }
        
        // 计算绘制位置
        double x = center.getX() - radius;
        double y = center.getY() - radius;
        double diameter = radius * 2;
        
        // 绘制圆形
        Ellipse2D.Double circle = new Ellipse2D.Double(x, y, diameter, diameter);
        
        // 设置填充颜色
        g2d.setColor(CIRCLE_FILL_COLOR);
        g2d.fill(circle);
        
        // 设置边框颜色和宽度
        if (isSelected) {
            g2d.setColor(CIRCLE_BORDER_COLOR.darker());
            g2d.setStroke(new BasicStroke(SELECTED_BORDER_WIDTH / (float)scale));
        } else {
            g2d.setColor(CIRCLE_BORDER_COLOR);
            g2d.setStroke(new BasicStroke(DEFAULT_BORDER_WIDTH / (float)scale));
        }
        g2d.draw(circle);
        
        // 绘制圆心和控制点
        drawControlPoints(g2d, obstacle, scale, isSelected);
    }
    
    /**
     * 绘制多边形障碍物
     */
    private static void drawPolygonObstacle(Graphics2D g2d, Obstacledge.Obstacle obstacle, 
                                            double scale, boolean isSelected) {
        List<Obstacledge.XYCoordinate> xyCoords = obstacle.getXyCoordinates();
        if (xyCoords.size() < 3) {
            return;
        }
        
        // 创建多边形路径
        Path2D.Double polygon = new Path2D.Double();
        
        // 移动到第一个点
        Obstacledge.XYCoordinate firstCoord = xyCoords.get(0);
        polygon.moveTo(firstCoord.getX(), firstCoord.getY());
        
        // 添加其他点
        for (int i = 1; i < xyCoords.size(); i++) {
            Obstacledge.XYCoordinate coord = xyCoords.get(i);
            polygon.lineTo(coord.getX(), coord.getY());
        }
        
        // 闭合多边形
        polygon.closePath();
        
        // 设置填充颜色
        g2d.setColor(POLYGON_FILL_COLOR);
        g2d.fill(polygon);
        
        // 设置边框颜色和宽度
        if (isSelected) {
            g2d.setColor(POLYGON_BORDER_COLOR.darker());
            g2d.setStroke(new BasicStroke(SELECTED_BORDER_WIDTH / (float)scale));
        } else {
            g2d.setColor(POLYGON_BORDER_COLOR);
            g2d.setStroke(new BasicStroke(DEFAULT_BORDER_WIDTH / (float)scale));
        }
        g2d.draw(polygon);
        
        // 绘制控制点
        drawControlPoints(g2d, obstacle, scale, isSelected);
    }
    
    /**
     * 绘制障碍物控制点
     */
    private static void drawControlPoints(Graphics2D g2d, Obstacledge.Obstacle obstacle, 
                                          double scale, boolean isSelected) {
        List<Obstacledge.XYCoordinate> xyCoords = obstacle.getXyCoordinates();
        if (xyCoords.isEmpty()) {
            return;
        }
        
        // 设置控制点颜色和大小
        g2d.setColor(OBSTACLE_POINT_COLOR);
        double pointSize = OBSTACLE_POINT_SIZE;
        
        // 如果是选中的障碍物，绘制所有控制点
        if (isSelected) {
            for (Obstacledge.XYCoordinate coord : xyCoords) {
                double x = coord.getX() - pointSize / 2;
                double y = coord.getY() - pointSize / 2;
                Ellipse2D.Double point = new Ellipse2D.Double(x, y, pointSize, pointSize);
                g2d.fill(point);
            }
        } 
        // 否则，只绘制第一个控制点（圆形障碍物为圆心，多边形障碍物为第一个顶点）
        else {
            Obstacledge.XYCoordinate firstCoord = xyCoords.get(0);
            double x = firstCoord.getX() - pointSize / 2;
            double y = firstCoord.getY() - pointSize / 2;
            Ellipse2D.Double point = new Ellipse2D.Double(x, y, pointSize, pointSize);
            g2d.fill(point);
        }
    }
    
    /**
     * 绘制障碍物标签
     */
    private static void drawObstacleLabel(Graphics2D g2d, Obstacledge.Obstacle obstacle, 
                                          double scale) {
        List<Obstacledge.XYCoordinate> xyCoords = obstacle.getXyCoordinates();
        if (xyCoords.isEmpty()) {
            return;
        }
        
        double centerX;
        double centerY;
 
        Obstacledge.ObstacleShape shape = obstacle.getShape();
        if (shape == Obstacledge.ObstacleShape.CIRCLE) {
            Obstacledge.XYCoordinate centerCoord = xyCoords.get(0);
            centerX = centerCoord.getX();
            centerY = centerCoord.getY();
        } else {
            Point2D.Double centroid = computePolygonCentroid(xyCoords);
            centerX = centroid.x;
            centerY = centroid.y;
        }
        
        // 获取障碍物名称
        String obstacleName = obstacle.getObstacleName();
        if (obstacleName == null || obstacleName.trim().isEmpty()) {
            obstacleName = "障碍物";
        } else {
            obstacleName = obstacleName.trim();
        }
        
        // 设置字体和颜色
        g2d.setColor(OBSTACLE_LABEL_COLOR);
        
        // 根据缩放比例调整字体大小
        int fontSize = (int)(10 / scale);
        fontSize = Math.max(8, Math.min(fontSize, 14)); // 限制字体大小范围
        
        g2d.setFont(new Font("微软雅黑", Font.PLAIN, fontSize));
        
        // 绘制标签
    String label = obstacleName;
        FontMetrics metrics = g2d.getFontMetrics();
        int textWidth = metrics.stringWidth(label);
        int textHeight = metrics.getHeight();
        
        // 在中心点绘制标签
        int textX = (int)(centerX - textWidth / 2.0);
        int textY = (int)(centerY + textHeight / 4.0); // 稍微向下偏移
        
        g2d.drawString(label, textX, textY);
    }
 
    private static Point2D.Double computePolygonCentroid(List<Obstacledge.XYCoordinate> xyCoords) {
        double area = 0.0;
        double cx = 0.0;
        double cy = 0.0;
        int n = xyCoords.size();
        for (int i = 0; i < n; i++) {
            Obstacledge.XYCoordinate current = xyCoords.get(i);
            Obstacledge.XYCoordinate next = xyCoords.get((i + 1) % n);
            double x0 = current.getX();
            double y0 = current.getY();
            double x1 = next.getX();
            double y1 = next.getY();
            double cross = x0 * y1 - x1 * y0;
            area += cross;
            cx += (x0 + x1) * cross;
            cy += (y0 + y1) * cross;
        }
 
        double areaFactor = area * 0.5;
        if (Math.abs(areaFactor) < 1e-9) {
            double avgX = 0.0;
            double avgY = 0.0;
            for (Obstacledge.XYCoordinate coord : xyCoords) {
                avgX += coord.getX();
                avgY += coord.getY();
            }
            int size = Math.max(1, xyCoords.size());
            return new Point2D.Double(avgX / size, avgY / size);
        }
 
        double centroidX = cx / (6.0 * areaFactor);
        double centroidY = cy / (6.0 * areaFactor);
        return new Point2D.Double(centroidX, centroidY);
    }
    
    /**
     * 检查点是否在障碍物内
     * 
     * @param worldPoint 世界坐标点
     * @param obstacle 障碍物
     * @return 如果点在障碍物内返回true，否则返回false
     */
    public static boolean isPointInObstacle(Point2D.Double worldPoint, Obstacledge.Obstacle obstacle) {
        if (worldPoint == null || obstacle == null || !obstacle.isValid()) {
            return false;
        }
        
        List<Obstacledge.XYCoordinate> xyCoords = obstacle.getXyCoordinates();
        if (xyCoords.isEmpty()) {
            return false;
        }
        
        // 根据障碍物形状进行判断
        switch (obstacle.getShape()) {
            case CIRCLE:
                return isPointInCircleObstacle(worldPoint, xyCoords);
            case POLYGON:
                return isPointInPolygonObstacle(worldPoint, xyCoords);
            default:
                return false;
        }
    }
    
    /**
     * 检查点是否在圆形障碍物内
     */
    private static boolean isPointInCircleObstacle(Point2D.Double worldPoint, 
                                                   List<Obstacledge.XYCoordinate> xyCoords) {
        if (xyCoords.size() < 2) {
            return false;
        }
        
        // 圆心
        Obstacledge.XYCoordinate center = xyCoords.get(0);
        
        // 圆上一点
        Obstacledge.XYCoordinate pointOnCircle = xyCoords.get(1);
        
        // 计算半径
        double dx = pointOnCircle.getX() - center.getX();
        double dy = pointOnCircle.getY() - center.getY();
        double radius = Math.sqrt(dx * dx + dy * dy);
        
        // 计算点到圆心的距离
        double pointDx = worldPoint.x - center.getX();
        double pointDy = worldPoint.y - center.getY();
        double distance = Math.sqrt(pointDx * pointDx + pointDy * pointDy);
        
        return distance <= radius;
    }
    
    /**
     * 检查点是否在多边形障碍物内
     */
    private static boolean isPointInPolygonObstacle(Point2D.Double worldPoint, 
                                                    List<Obstacledge.XYCoordinate> xyCoords) {
        if (xyCoords.size() < 3) {
            return false;
        }
        
        // 使用射线法判断点是否在多边形内
        boolean inside = false;
        int n = xyCoords.size();
        
        for (int i = 0, j = n - 1; i < n; j = i++) {
            double xi = xyCoords.get(i).getX();
            double yi = xyCoords.get(i).getY();
            double xj = xyCoords.get(j).getX();
            double yj = xyCoords.get(j).getY();
            
            boolean intersect = ((yi > worldPoint.y) != (yj > worldPoint.y)) &&
                               (worldPoint.x < (xj - xi) * (worldPoint.y - yi) / (yj - yi) + xi);
            
            if (intersect) {
                inside = !inside;
            }
        }
        
        return inside;
    }
    
    /**
     * 检查点是否在障碍物的控制点上
     * 
     * @param worldPoint 世界坐标点
     * @param obstacle 障碍物
     * @param scale 缩放比例
     * @return 控制点索引（从0开始），如果不在控制点上返回-1
     */
    public static int getControlPointIndex(Point2D.Double worldPoint, 
                                           Obstacledge.Obstacle obstacle, 
                                           double scale) {
        if (worldPoint == null || obstacle == null || !obstacle.isValid()) {
            return -1;
        }
        
        List<Obstacledge.XYCoordinate> xyCoords = obstacle.getXyCoordinates();
        if (xyCoords.isEmpty()) {
            return -1;
        }
        
        // 根据障碍物形状计算选择阈值
        double selectionThreshold = OBSTACLE_POINT_SIZE * 2 / scale;
        
        // 检查每个控制点
        for (int i = 0; i < xyCoords.size(); i++) {
            Obstacledge.XYCoordinate coord = xyCoords.get(i);
            
            double dx = worldPoint.x - coord.getX();
            double dy = worldPoint.y - coord.getY();
            double distance = Math.sqrt(dx * dx + dy * dy);
            
            if (distance <= selectionThreshold) {
                return i;
            }
        }
        
        return -1;
    }
    
    /**
     * 获取障碍物的边界框
     * 
     * @param obstacle 障碍物
     * @return 边界框（minX, minY, maxX, maxY），如果无效返回null
     */
    public static double[] getObstacleBounds(Obstacledge.Obstacle obstacle) {
        if (obstacle == null || !obstacle.isValid()) {
            return null;
        }
        
        List<Obstacledge.XYCoordinate> xyCoords = obstacle.getXyCoordinates();
        if (xyCoords.isEmpty()) {
            return null;
        }
        
        double minX = Double.MAX_VALUE;
        double minY = Double.MAX_VALUE;
        double maxX = -Double.MAX_VALUE;
        double maxY = -Double.MAX_VALUE;
        
        // 根据障碍物形状计算边界
        switch (obstacle.getShape()) {
            case CIRCLE:
                return getCircleObstacleBounds(xyCoords);
            case POLYGON:
                return getPolygonObstacleBounds(xyCoords);
            default:
                return null;
        }
    }
    
    /**
     * 获取圆形障碍物的边界框
     */
    private static double[] getCircleObstacleBounds(List<Obstacledge.XYCoordinate> xyCoords) {
        if (xyCoords.size() < 2) {
            return null;
        }
        
        // 圆心
        Obstacledge.XYCoordinate center = xyCoords.get(0);
        
        // 圆上一点
        Obstacledge.XYCoordinate pointOnCircle = xyCoords.get(1);
        
        // 计算半径
        double dx = pointOnCircle.getX() - center.getX();
        double dy = pointOnCircle.getY() - center.getY();
        double radius = Math.sqrt(dx * dx + dy * dy);
        
        // 计算边界
        double minX = center.getX() - radius;
        double minY = center.getY() - radius;
        double maxX = center.getX() + radius;
        double maxY = center.getY() + radius;
        
        return new double[]{minX, minY, maxX, maxY};
    }
    
    /**
     * 获取多边形障碍物的边界框
     */
    private static double[] getPolygonObstacleBounds(List<Obstacledge.XYCoordinate> xyCoords) {
        if (xyCoords.size() < 3) {
            return null;
        }
        
        double minX = Double.MAX_VALUE;
        double minY = Double.MAX_VALUE;
        double maxX = -Double.MAX_VALUE;
        double maxY = -Double.MAX_VALUE;
        
        for (Obstacledge.XYCoordinate coord : xyCoords) {
            minX = Math.min(minX, coord.getX());
            minY = Math.min(minY, coord.getY());
            maxX = Math.max(maxX, coord.getX());
            maxY = Math.max(maxY, coord.getY());
        }
        
        return new double[]{minX, minY, maxX, maxY};
    }
    
    /**
     * 将障碍物列表转换为绘图用的点列表
     * 
     * @param obstacles 障碍物列表
     * @return 所有障碍物控制点的列表
     */
    public static List<Point2D.Double> getObstaclePoints(List<Obstacledge.Obstacle> obstacles) {
        List<Point2D.Double> points = new ArrayList<>();
        
        if (obstacles == null || obstacles.isEmpty()) {
            return points;
        }
        
        for (Obstacledge.Obstacle obstacle : obstacles) {
            if (obstacle == null || !obstacle.isValid()) {
                continue;
            }
            
            List<Obstacledge.XYCoordinate> xyCoords = obstacle.getXyCoordinates();
            for (Obstacledge.XYCoordinate coord : xyCoords) {
                points.add(new Point2D.Double(coord.getX(), coord.getY()));
            }
        }
        
        return points;
    }
    
    /**
     * 计算所有障碍物的总边界框
     * 
     * @param obstacles 障碍物列表
     * @return 边界框（minX, minY, maxX, maxY），如果没有障碍物返回null
     */
    public static double[] getAllObstaclesBounds(List<Obstacledge.Obstacle> obstacles) {
        if (obstacles == null || obstacles.isEmpty()) {
            return null;
        }
        
        double minX = Double.MAX_VALUE;
        double minY = Double.MAX_VALUE;
        double maxX = -Double.MAX_VALUE;
        double maxY = -Double.MAX_VALUE;
        boolean hasBounds = false;
        
        for (Obstacledge.Obstacle obstacle : obstacles) {
            double[] bounds = getObstacleBounds(obstacle);
            if (bounds != null) {
                minX = Math.min(minX, bounds[0]);
                minY = Math.min(minY, bounds[1]);
                maxX = Math.max(maxX, bounds[2]);
                maxY = Math.max(maxY, bounds[3]);
                hasBounds = true;
            }
        }
        
        if (!hasBounds) {
            return null;
        }
        
        return new double[]{minX, minY, maxX, maxY};
    }
    
    /**
     * 绘制障碍物编辑模式下的辅助线
     * 
     * @param g2d 图形上下文
     * @param obstacle 障碍物
     * @param scale 缩放比例
     * @param isDragging 是否正在拖拽
     * @param dragPointIndex 拖拽的控制点索引
     */
    public static void drawEditingGuide(Graphics2D g2d, Obstacledge.Obstacle obstacle, 
                                        double scale, boolean isDragging, int dragPointIndex) {
        if (obstacle == null || !obstacle.isValid()) {
            return;
        }
        
        List<Obstacledge.XYCoordinate> xyCoords = obstacle.getXyCoordinates();
        if (xyCoords.isEmpty()) {
            return;
        }
        
        // 设置辅助线样式
        g2d.setColor(new Color(0, 100, 0, 150)); // 半透明的深绿色
        g2d.setStroke(new BasicStroke(1.0f / (float)scale, 
                                      BasicStroke.CAP_ROUND, 
                                      BasicStroke.JOIN_ROUND, 
                                      1.0f, 
                                      new float[]{5.0f / (float)scale, 5.0f / (float)scale}, 
                                      0.0f));
        
        // 根据障碍物形状绘制辅助线
        switch (obstacle.getShape()) {
            case CIRCLE:
                drawCircleEditingGuide(g2d, xyCoords, isDragging, dragPointIndex);
                break;
            case POLYGON:
                drawPolygonEditingGuide(g2d, xyCoords, isDragging, dragPointIndex);
                break;
        }
    }
    
    /**
     * 绘制圆形障碍物编辑模式下的辅助线
     */
    private static void drawCircleEditingGuide(Graphics2D g2d, 
                                               List<Obstacledge.XYCoordinate> xyCoords,
                                               boolean isDragging, int dragPointIndex) {
        if (xyCoords.size() < 2) {
            return;
        }
        
        Obstacledge.XYCoordinate center = xyCoords.get(0);
        Obstacledge.XYCoordinate pointOnCircle = xyCoords.get(1);
        
        // 绘制半径线
        g2d.drawLine((int)center.getX(), (int)center.getY(), 
                     (int)pointOnCircle.getX(), (int)pointOnCircle.getY());
        
        // 绘制中心十字线
        int crossSize = 5;
        g2d.drawLine((int)center.getX() - crossSize, (int)center.getY(), 
                     (int)center.getX() + crossSize, (int)center.getY());
        g2d.drawLine((int)center.getX(), (int)center.getY() - crossSize, 
                     (int)center.getX(), (int)center.getY() + crossSize);
        
        // 如果正在拖拽控制点，绘制拖拽线
        if (isDragging && dragPointIndex >= 0 && dragPointIndex < xyCoords.size()) {
            g2d.setColor(Color.RED);
            g2d.setStroke(new BasicStroke(2.0f));
            
            Obstacledge.XYCoordinate draggedPoint = xyCoords.get(dragPointIndex);
            
            // 绘制从控制点到鼠标的连线
            // 这里需要外部传入鼠标位置，暂时不实现
        }
    }
    
    /**
     * 绘制多边形障碍物编辑模式下的辅助线
     */
    private static void drawPolygonEditingGuide(Graphics2D g2d, 
                                                List<Obstacledge.XYCoordinate> xyCoords,
                                                boolean isDragging, int dragPointIndex) {
        if (xyCoords.size() < 3) {
            return;
        }
        
        // 绘制顶点之间的辅助线
        int n = xyCoords.size();
        for (int i = 0; i < n; i++) {
            Obstacledge.XYCoordinate current = xyCoords.get(i);
            Obstacledge.XYCoordinate next = xyCoords.get((i + 1) % n);
            
            g2d.drawLine((int)current.getX(), (int)current.getY(), 
                         (int)next.getX(), (int)next.getY());
            
            // 绘制每个顶点的十字线
            int crossSize = 3;
            g2d.drawLine((int)current.getX() - crossSize, (int)current.getY(), 
                         (int)current.getX() + crossSize, (int)current.getY());
            g2d.drawLine((int)current.getX(), (int)current.getY() - crossSize, 
                         (int)current.getX(), (int)current.getY() + crossSize);
        }
        
        // 如果正在拖拽控制点，绘制拖拽线
        if (isDragging && dragPointIndex >= 0 && dragPointIndex < xyCoords.size()) {
            g2d.setColor(Color.RED);
            g2d.setStroke(new BasicStroke(2.0f));
            
            Obstacledge.XYCoordinate draggedPoint = xyCoords.get(dragPointIndex);
            
            // 绘制从控制点到鼠标的连线
            // 这里需要外部传入鼠标位置，暂时不实现
        }
    }
}