public OverlayLineSegment(Geo p1, Geo p2, Color color, float width, LineStyle lineStyle)
: base(color, width, lineStyle)
{
Add(p1);
Add(p2);
Course = new Course(p1, p2);
ComputeCoefficients();
}
// Reflects a bearing given the normal vector (bearing) of the reflecting surface.
// For correct results, please ensure the normal vector is pointing towards the inbound
// bearing vector.
public Course Reflect(Course normalToReflector)
{
var myX = Math.Sin(Radians);
var myY = Math.Cos(Radians);
var normX = Math.Sin(normalToReflector.Radians);
var normY = Math.Cos(normalToReflector.Radians);
// Compute the dot product of the current bearing and the normal vector;
var dot = (myX*normX) + (myY*normY);
var newX = myX - (2*dot*normX);
var newY = myY - (2*dot*normY);
return new Course(Math.Atan2(newX, newY) * RadiansToDegrees);
}
/// <summary>
/// Takes a start location and a proposed end location, and returns a reflected end location
/// If the proposed end location is outside of the current figure, the end location is reflected
/// by the normal to the intersecting segment, and returned to the caller. If the proposed end
/// location is inside the current figure, then it is simply returned to the caller.
/// </summary>
/// <param name="startLocation">Start location for the current proposed move</param>
/// <param name="proposedEndLocation">End location for the current proposed move</param>
/// <param name="proposedCourse"> </param>
/// <returns>Actual end location that remains inside the figure, which may be reflected from the
/// proposed end location provided if the proposed end location lies outside the figure</returns>
public override Geo Reflect(Geo startLocation, Geo proposedEndLocation, out Course proposedCourse)
{
//Geo start = new Geo(StartLocation);
//Geo end = new Geo(ProposedEndLocation);
#if MATLAB_DEBUG_OUTPUT
MatlabDumpVertices();
#endif
proposedCourse = new Course(startLocation, proposedEndLocation);
if (Contains(proposedEndLocation))
return proposedEndLocation;
//start.Move(ProposedCourse.ReciprocalDegrees, 1000);
//end.Move(ProposedCourse.Degrees, 1000);
#if MATLAB_DEBUG_OUTPUT
Console.WriteLine("Course=zeros(2,2);\nCourse(1,:)=[{0} {1}];\nCourse(2,:)=[{2} {3}];",
startLocation.Longitude, startLocation.Latitude,
proposedEndLocation.Longitude, proposedEndLocation.Latitude);
#endif
var proposedCourseSegment = new OverlayLineSegment(startLocation, proposedEndLocation);
for (var i = 0; i < Segments.Count(); i++)
{
var intersect = proposedCourseSegment.IntersectionPoint(Segments[i]);
#if MATLAB_DEBUG_OUTPUT
Console.WriteLine("Intersects({0},:)=[{1} {2}];", i + 1, intersect.Longitude, intersect.Latitude);
#endif
//if (intersect == null) continue;
if (!proposedCourseSegment.Contains(intersect) || !Segments[i].Contains(intersect)) continue;
proposedCourse = proposedCourse.Reflect(Normals[i]);
var distance = startLocation.DistanceKilometers(proposedEndLocation);
var result = startLocation.Offset(Geo.KilometersToRadians(distance), proposedCourse.Radians);
return result;
}
#if MATLAB_DEBUG_OUTPUT
Console.WriteLine("figure;");
Console.WriteLine("plot(Vertices(:, 1), Vertices(:, 2), 'g-*');");
Console.WriteLine("hold on;");
Console.WriteLine("plot(Course(:, 1), Course(:, 2), 'r-o');");
Console.WriteLine("plot(Intersects(:, 1), Intersects(:, 2), 'bx');");
Console.WriteLine("legend('Area Boundary', 'Course Segment under review', 'Calculated intersection points');");
#endif
throw new GeometricException("The proposed course didn't intersect with any of the edges of the figure");
}
void MovementModel()
{
var timestepCount = (int) NemoPlatform.NemoScenario.Duration.DivideBy(NemoBase.SimulationStepTime);
var currentTime = NemoPlatform.NemoScenario.StartTime;
PlatformStates = new PlatformStates();
NemoTrackdef curTrackdef = null;
var curLocation = new Geo();
Course course = null;
//double curCourseDegrees = 0;
double curSpeedMetersPerSecond = 0;
var overlayPoints = new List<Geo>();
OverlayShape curTrackBoundingRegion = null;
CourseChangePoints = new List<CourseChangeDatum>();
overlayPoints.Add(new Geo(NemoPlatform.Trackdefs[0].InitialLocation));
// Put trackdefs in ascending start-time order, if they weren't already
NemoPlatform.Trackdefs.Sort();
for (var i = 0; i < timestepCount; i++, currentTime += NemoBase.SimulationStepTime)
{
// if we have a current trackdef we're processing, AND that current trackdef DOES NOT CONTAIN the current time
// THEN we no longer have a current trackdef
if ((curTrackdef != null) && (!curTrackdef.Contains(currentTime))) curTrackdef = null;
// if we don't have a current trackdef
if (curTrackdef == null)
{
// look through all of our trackdefs
foreach (var trackdef in NemoPlatform.Trackdefs) // If we find one that contains the current time
if (trackdef.Contains(currentTime))
{
// make this trackdef the current one
curTrackdef = trackdef;
curLocation = curTrackdef.InitialLocation;
course = new Course(curTrackdef.InitialCourse);
curSpeedMetersPerSecond = curTrackdef.InitialSpeed * 0.514444444f;
CourseChangePoints.Add(new CourseChangeDatum
{
IsStart = true,
Location = curLocation,
NewCourse = course.Degrees,
});
// Conversion factor for knots to meters per second
if (curTrackdef.OverlayFile != null)
{
if (curTrackdef.OverlayFile.Shapes.Count() != 1) throw new PlatformMovementException(string.Format("Specified overlay file {0} is unsuitable for use as a bounding region.\nReason(s): Overlay file contains multiple shapes, therefore the bounding shape is undefined", curTrackdef.OverlayFile.FileName));
curTrackBoundingRegion = curTrackdef.OverlayFile.Shapes[0];
#if true
if (!curTrackBoundingRegion.IsUsableAsPerimeter)
{
var reasons = new StringBuilder();
if (!curTrackBoundingRegion.IsClosed) reasons.Append("Bounding region is not closed, ");
if (curTrackBoundingRegion.HasCrossingSegments) reasons.Append("Bounding region is not a simple polygon (segments cross each other), ");
if (reasons.Length != 0) reasons.Remove(reasons.Length - 2, 2); // Remove the trailing ", "
throw new PlatformMovementException(string.Format("Specified overlay file {0} is unsuitable for use as a bounding region.\nReason(s): {1}", curTrackdef.OverlayFile.FileName, reasons));
}
#endif
if (!curTrackBoundingRegion.Contains(curLocation)) throw new PlatformMovementException(string.Format("Specified start location ({0:0.####}, {1:0.####}) is not contained within the trackdef bounding region", curLocation.Latitude, curLocation.Longitude));
}
else
{
// Else, the current trackdef's overlay file IS null, and if the type is perimeter_bounce, that's a no-no
if (curTrackdef.TrackType.ToLower() == "perimeter_bounce") throw new PlatformMovementException("PERIMETER_BOUNCE trackdefs require a bounding region, none was supplied.");
}
break;
}
}
// If we have a current trackdef, use it, otherwise we don't update the location or course
if (curTrackdef != null)
{
switch (curTrackdef.TrackType.ToLower())
{
default:
case "stationary":
curSpeedMetersPerSecond = 0;
break;
case "straight_line":
// straight line navigation code
curLocation = curLocation.Offset(Geo.KilometersToRadians((curSpeedMetersPerSecond * NemoBase.SimulationStepTime.TotalSeconds) / 1000), course.Radians);
break;
case "perimeter_bounce":
// perimeter bounce navigation code here
var proposedLocation = curLocation.Offset(Geo.KilometersToRadians((curSpeedMetersPerSecond * NemoBase.SimulationStepTime.TotalSeconds) / 1000), course.Radians);
//proposedLocation = new EarthCoordinate3D(curLocation);
//proposedLocation.Move(curCourseDegrees, curSpeedMetersPerSecond*NemoBase.SimulationStepTime.TotalSeconds);
if (curTrackBoundingRegion == null) throw new PlatformBehaviorException("Platform behavior is specified as Perimeter Bounce, but no bounding shape was specified");
if (curTrackBoundingRegion.Contains(proposedLocation)) curLocation = proposedLocation;
else
{
//curLocation.Compare(proposedLocation);
Course proposedCourse;
proposedLocation = new Geo(curTrackBoundingRegion.Reflect(curLocation, proposedLocation, out proposedCourse));
if (!curTrackBoundingRegion.Contains(proposedLocation))
{
proposedLocation = new Geo(curTrackBoundingRegion.Reflect(curLocation, proposedLocation, out proposedCourse));
if (!curTrackBoundingRegion.Contains(proposedLocation)) throw new PlatformMovementException("Two reflections failed to keep the platform inside the bounding region. Please check the bounding region closely for small pockets or other irregularities");
}
var newCourse = new Course(curLocation, proposedLocation);
CourseChangePoints.Add(new CourseChangeDatum
{
Location = curLocation,
OldCourse = course.Degrees,
NewCourse = newCourse.Degrees,
});
//curLocation.Compare(proposedLocation);
course = newCourse;
curLocation = new Geo(proposedLocation);
if (!curTrackBoundingRegion.Contains(curLocation)) throw new PlatformMovementException("Reflected position is outside the bounding region");
overlayPoints.Add(curLocation);
}
break;
}
}
else
// If we don't have a current trackdef, that means our speed is zero
curSpeedMetersPerSecond = 0;
// Put the current location, course, speed and time into the PlatformStates list
PlatformStates.Add(new PlatformLocation
{
Location = curLocation,
Course = (float) course.Degrees,
Speed = (float) curSpeedMetersPerSecond,
//SimulationTime = currentTime
});
}
overlayPoints.Add(new Geo(curLocation));
CourseOverlay = new OverlayLineSegments(overlayPoints.ToArray(), Colors.Orange, 1, LineStyle.Dot);
CourseEnd = new OverlayPoint(curLocation, Colors.Red, 2);
CourseChangePoints.Add(new CourseChangeDatum
{
IsEnd = true,
Location = curLocation,
OldCourse = course.Degrees,
});
CourseStart = new OverlayPoint(NemoPlatform.Trackdefs[0].InitialLocation, Colors.Green, 2);
}
public virtual Geo Reflect(Geo startLocation, Geo proposedEndLocation, out Course proposedCourse) { throw new NotImplementedException(); }
public Course(Course course)
{
Degrees = course.Degrees;
Normalize();
}
/// <summary>
/// Construct a pie slice which runs clockwise from the left hand course to the right hand course
/// </summary>
/// <param name="leftHandCourse">Left hand course</param>
/// <param name="arcLength">Arc length of the pie slice, in degrees</param>
public PieSlice(Course leftHandCourse, double arcLength) : this(leftHandCourse.Degrees, arcLength) { }