/// <summary>
/// Check whether we reached the end of a straight segment
/// </summary>
protected void CheckStraightEnd()
{
var currentPoint = new Point3D(_x, _y, 0, CoordinateUnit.metric);
// At the last straight segment, quit the optimisation when we reach the endpoint
if (_segmentIndex == _numberOfSegments)
{
if (currentPoint.DistanceTo(_segmentStartPoint) >= _endPoint.DistanceTo(_segmentStartPoint))
{
Log("Reached end of segment" + _segmentIndex + " (straight) X:" + _x + " Y:" + _y + " Heading:" + _heading * 180 / Math.PI);
_vertical_state = VERTICAL_STATE.END;
}
}
else
{
// At the second last straight segment,
// continue flying as long as we cannot reach the endpoint with a minimum radius turn in less than a 180degree turn
if (_segmentIndex == _numberOfSegments - 2 &&
currentPoint.DistanceTo(_endPoint) / 2 < _aircraft.MinimumTurnRadius(_aircraft.VMax))
{
Log("Continue X:" + _x);
return;
}
// Switch from flying straight to a turn if we reach beyond the given segment length
if (currentPoint.DistanceTo(_segmentStartPoint) >= Interpolate(0, MAX_SEGMENT_LENGTH, Setting(2)))
{
Log("Reached end of segment" + _segmentIndex + " (straight) X:" + _x + " Y:" + _y + " Heading:" + _heading * 180 / Math.PI);
_horizontal_state = HORIZONTAL_STATE.TURN;
_segmentStartHeading = _heading;
_segmentIndex++;
}
}
}
/// <summary>
/// Create a new FlightSimulator object
/// </summary>
/// <param name="aircraft">The aircraft that will be used in the simulation</param>
/// <param name="endPoint">The position the aircraft will fly towards</param>
/// <param name="numberOfSegments">The number of segments used in the simulation. The simulation starts and ends with a straight segment, so the number of segments should be odd.</param>
/// <param name="settings">The control parameters, which are a list of doubles between 0 and 1. The number of controls needed for any number of segments can be calculated by calling TrajectoryChromosome.ChromosomeLength().</param>
public FlightSimulator(ISimulatorModel aircraft, Point3D endPoint, int numberOfSegments, List <double> settings, TrajectoryGenerator trajectoryGenerator)
{
_trajectoryGenerator = trajectoryGenerator;
_settings = settings;
_vertical_state = VERTICAL_STATE.TAKEOFF;
_aircraft = aircraft;
_speed = 160;
_x = 0;
_y = 0;
_heading = Math.PI / 2;
_endPoint = endPoint;
_numberOfSegments = numberOfSegments;
_segmentIndex = 1;
}
/// <summary>
/// Switch to a different vertical state if needed
/// </summary>
protected void updateVerticalState()
{
switch (_vertical_state)
{
case VERTICAL_STATE.TAKEOFF:
if (_height >= 1500)
{
_vertical_state = VERTICAL_STATE.CLIMB;
}
break;
case VERTICAL_STATE.CLIMB:
if (_height >= 3600 || _speed >= 250)
{
_vertical_state = VERTICAL_STATE.FREECLIMB;
}
break;
default:
/*
* if (_height >= 6000 || _speed >= _aircraft.VClean) {
* Console.WriteLine("Trajectory reached max height or VClean");
* _vertical_state = VERTICAL_STATE.END;
* }
*/
/*
* // force stop:
* if (duration >= 750) {
* Console.WriteLine("Trajectory timeout");
* fuel = int.MaxValue;
* _vertical_state = VERTICAL_STATE.END;
* }
*/
break;
}
}
