public Drone(float droneRadius, float flightSpeed, Grid.Grid parentGrid)
{
//just setting some local variables, properties, things of that nature
radius = droneRadius; speed = flightSpeed; xPosition = parentGrid.startX; yPosition = parentGrid.startY;
xGrid = parentGrid;
prevDirection = float.NaN;
preComputeFlightPath = new FlightPath();
preComputeFlightPath.addNode(xGrid.startX, xGrid.startY, false);
preComputeFlightPath.addNode(xGrid.endX, xGrid.endY, true);
}
public FlightPath BeginFlight()
{
//Start our index at 1 because 0 will always be our origin and we want to fly towards the first node
pathNodeIndex = 1;
path = new FlightPath();
xPosition = xGrid.startX;
yPosition = xGrid.startY;
direction = float.NaN;
prevCollidingEdge = null;
prevCollidingCorner = null;
eliminatedCorners = new List <Grid.Corner>();
//main control loop for a single flight
do
{
//determine the direction in which we should move via our estimated path
CalculateDirection(preComputeFlightPath);
//move in said direction and increment the path node if we have arrived at one
Move(preComputeFlightPath);
//terminate loop if we have reached the last node, i.e. the end
} while (pathNodeIndex < preComputeFlightPath.path.Count());
//add that end node since we didn't get a chance to do it earlier
path.addNode(xGrid.endX, xGrid.endY, true);
return(path);
}
public FlightPath OptimizeFlightPath()
{
FlightPath copyPath = new FlightPath();
foreach (FlightPath.PathNode x in path.path)
{
copyPath.addNode(x.node.X, x.node.Y, x.optimal);
}
float maxDistance = 0;
for (int i = path.path.Count - 1; i > 0; i--)
{
if (!copyPath.path.ElementAt(i).optimal)
{
copyPath.path.RemoveAt(i);
continue;
}
float d = Length(new PointF(copyPath.path.ElementAt(i).node.X - copyPath.path.ElementAt(copyPath.path.Count - 1).node.X, copyPath.path.ElementAt(i).node.Y - copyPath.path.ElementAt(copyPath.path.Count - 1).node.Y));
bool removed = false;
if (d < maxDistance)
{
copyPath.path.RemoveAt(i);
removed = true;
}
maxDistance = d;
if (removed)
{
continue;
}
if (i < path.path.Count - 2)
{
float l1 = Length(new PointF(copyPath.path.ElementAt(i + 1).node.X - copyPath.path.ElementAt(i - 1).node.X, copyPath.path.ElementAt(i + 1).node.Y - copyPath.path.ElementAt(i - 1).node.Y));
float l2 = Length(new PointF(copyPath.path.ElementAt(i).node.X - copyPath.path.ElementAt(i - 1).node.X, copyPath.path.ElementAt(i).node.Y - copyPath.path.ElementAt(i - 1).node.Y));
if (l2 > l1)
{
copyPath.path.RemoveAt(i);
continue;
}
}
}
preComputeFlightPath = copyPath;
return(copyPath);
}