static utmpos findClosestPoint(utmpos start, List <utmpos> list)
{
utmpos answer = utmpos.Zero;
double currentbest = double.MaxValue;
foreach (utmpos pnt in list)
{
double dist1 = start.GetDistance(pnt);
if (dist1 < currentbest)
{
answer = pnt;
currentbest = dist1;
}
}
return(answer);
}
static linelatlng findClosestLine(utmpos start, List<linelatlng> list, double minDistance, double angle)
{
// By now, just add 5.000 km to our lines so they are long enough to allow intersection
double METERS_TO_EXTEND = 5000000;
double perperndicularOrientation = AddAngle(angle, 90);
// Calculation of a perpendicular line to the grid lines containing the "start" point
/*
* --------------------------------------|------------------------------------------
* --------------------------------------|------------------------------------------
* -------------------------------------start---------------------------------------
* --------------------------------------|------------------------------------------
* --------------------------------------|------------------------------------------
* --------------------------------------|------------------------------------------
* --------------------------------------|------------------------------------------
* --------------------------------------|------------------------------------------
*/
utmpos start_perpendicular_line = newpos(start, perperndicularOrientation, -METERS_TO_EXTEND);
utmpos stop_perpendicular_line = newpos(start, perperndicularOrientation, METERS_TO_EXTEND);
// Store one intersection point per grid line
Dictionary<utmpos, linelatlng> intersectedPoints = new Dictionary<utmpos, linelatlng>();
// lets order distances from every intersected point per line with the "start" point
Dictionary<double, utmpos> ordered_min_to_max = new Dictionary<double, utmpos>();
foreach (linelatlng line in list)
{
// Extend line at both ends so it intersecs for sure with our perpendicular line
utmpos extended_line_start = newpos(line.p1, angle, -METERS_TO_EXTEND);
utmpos extended_line_stop = newpos(line.p2, angle, METERS_TO_EXTEND);
// Calculate intersection point
utmpos p = FindLineIntersection(extended_line_start, extended_line_stop, start_perpendicular_line, stop_perpendicular_line);
// Store it
intersectedPoints[p] = line;
// Calculate distances between interesected point and "start" (i.e. line and start)
double distance_p = start.GetDistance(p);
if (!ordered_min_to_max.ContainsKey(distance_p))
ordered_min_to_max.Add(distance_p, p);
}
// Acquire keys and sort them.
List<double> ordered_keys = ordered_min_to_max.Keys.ToList();
ordered_keys.Sort();
// Lets select a line that is the closest to "start" point but "mindistance" away at least.
// If we have only one line, return that line whatever the minDistance says
double key = double.MaxValue;
int i = 0;
while (key == double.MaxValue && i < ordered_keys.Count)
{
if (ordered_keys[i] >= minDistance)
key = ordered_keys[i];
i++;
}
// If no line is selected (because all of them are closer than minDistance, then get the farest one
if (key == double.MaxValue)
key = ordered_keys[ordered_keys.Count-1];
// return line
return intersectedPoints[ordered_min_to_max[key]];
}
static utmpos findClosestPoint(utmpos start, List<utmpos> list)
{
utmpos answer = utmpos.Zero;
double currentbest = double.MaxValue;
foreach (utmpos pnt in list)
{
double dist1 = start.GetDistance(pnt);
if (dist1 < currentbest)
{
answer = pnt;
currentbest = dist1;
}
}
return answer;
}
static linelatlng findClosestLine(utmpos start, List <linelatlng> list, double minDistance, double angle)
{
if (minDistance == 0)
{
linelatlng answer = list[0];
double shortest = double.MaxValue;
foreach (linelatlng line in list)
{
double ans1 = start.GetDistance(line.p1);
double ans2 = start.GetDistance(line.p2);
utmpos shorterpnt = ans1 < ans2 ? line.p1 : line.p2;
if (shortest > start.GetDistance(shorterpnt))
{
answer = line;
shortest = start.GetDistance(shorterpnt);
}
}
return(answer);
}
// By now, just add 5.000 km to our lines so they are long enough to allow intersection
double METERS_TO_EXTEND = 5000;
double perperndicularOrientation = AddAngle(angle, 90);
// Calculation of a perpendicular line to the grid lines containing the "start" point
/*
* --------------------------------------|------------------------------------------
* --------------------------------------|------------------------------------------
* -------------------------------------start---------------------------------------
* --------------------------------------|------------------------------------------
* --------------------------------------|------------------------------------------
* --------------------------------------|------------------------------------------
* --------------------------------------|------------------------------------------
* --------------------------------------|------------------------------------------
*/
utmpos start_perpendicular_line = newpos(start, perperndicularOrientation, -METERS_TO_EXTEND);
utmpos stop_perpendicular_line = newpos(start, perperndicularOrientation, METERS_TO_EXTEND);
// Store one intersection point per grid line
Dictionary <utmpos, linelatlng> intersectedPoints = new Dictionary <utmpos, linelatlng>();
// lets order distances from every intersected point per line with the "start" point
Dictionary <double, utmpos> ordered_min_to_max = new Dictionary <double, utmpos>();
foreach (linelatlng line in list)
{
// Calculate intersection point
utmpos p = FindLineIntersectionExtension(line.p1, line.p2, start_perpendicular_line, stop_perpendicular_line);
// Store it
intersectedPoints[p] = line;
// Calculate distances between interesected point and "start" (i.e. line and start)
double distance_p = start.GetDistance(p);
if (!ordered_min_to_max.ContainsKey(distance_p))
{
ordered_min_to_max.Add(distance_p, p);
}
}
// Acquire keys and sort them.
List <double> ordered_keys = ordered_min_to_max.Keys.ToList();
ordered_keys.Sort();
// Lets select a line that is the closest to "start" point but "mindistance" away at least.
// If we have only one line, return that line whatever the minDistance says
double key = double.MaxValue;
int i = 0;
while (key == double.MaxValue && i < ordered_keys.Count)
{
if (ordered_keys[i] >= minDistance)
{
key = ordered_keys[i];
}
i++;
}
// If no line is selected (because all of them are closer than minDistance, then get the farest one
if (key == double.MaxValue)
{
key = ordered_keys[ordered_keys.Count - 1];
}
var filteredlist = intersectedPoints.Where(a => a.Key.GetDistance(start) >= key);
return(findClosestLine(start, filteredlist.Select(a => a.Value).ToList(), 0, angle));
}
private static List <utmpos> GenerateOffsetPath(List <utmpos> utmpositions, double distance, double spacing, int utmzone)
{
List <utmpos> ans = new List <utmpos>();
utmpos oldpos = utmpos.Zero;
for (int a = 0; a < utmpositions.Count - 2; a++)
{
var prevCenter = utmpositions[a];
var currCenter = utmpositions[a + 1];
var nextCenter = utmpositions[a + 2];
var l1bearing = prevCenter.GetBearing(currCenter);
var l2bearing = currCenter.GetBearing(nextCenter);
var l1prev = newpos(prevCenter, l1bearing + 90, distance);
var l1curr = newpos(currCenter, l1bearing + 90, distance);
var l2curr = newpos(currCenter, l2bearing + 90, distance);
var l2next = newpos(nextCenter, l2bearing + 90, distance);
var l1l2center = FindLineIntersectionExtension(l1prev, l1curr, l2curr, l2next);
//start
if (a == 0)
{
// add start
l1prev.Tag = "S";
ans.Add(l1prev);
// add start/trigger
l1prev.Tag = "SM";
ans.Add(l1prev);
oldpos = l1prev;
}
//spacing
if (spacing > 0)
{
for (int d = (int)((oldpos.GetDistance(l1l2center)) % spacing);
d < (oldpos.GetDistance(l1l2center));
d += (int)spacing)
{
double ax = oldpos.x;
double ay = oldpos.y;
newpos(ref ax, ref ay, l1bearing, d);
var utmpos2 = new utmpos(ax, ay, utmzone)
{
Tag = "M"
};
ans.Add(utmpos2);
}
}
//end of leg
l1l2center.Tag = "S";
ans.Add(l1l2center);
oldpos = l1l2center;
// last leg
if ((a + 3) == utmpositions.Count)
{
if (spacing > 0)
{
for (int d = (int)((l1l2center.GetDistance(l2next)) % spacing);
d < (l1l2center.GetDistance(l2next));
d += (int)spacing)
{
double ax = l1l2center.x;
double ay = l1l2center.y;
newpos(ref ax, ref ay, l2bearing, d);
var utmpos2 = new utmpos(ax, ay, utmzone)
{
Tag = "M"
};
ans.Add(utmpos2);
}
}
l2next.Tag = "ME";
ans.Add(l2next);
l2next.Tag = "E";
ans.Add(l2next);
}
}
return(ans);
}
static linelatlng findClosestLine(utmpos start, List <linelatlng> list, double minDistance, double angle)
{
// By now, just add 5.000 km to our lines so they are long enough to allow intersection
double METERS_TO_EXTEND = 5000000;
double perperndicularOrientation = AddAngle(angle, 90);
// Calculation of a perpendicular line to the grid lines containing the "start" point
/*
* --------------------------------------|------------------------------------------
* --------------------------------------|------------------------------------------
* -------------------------------------start---------------------------------------
* --------------------------------------|------------------------------------------
* --------------------------------------|------------------------------------------
* --------------------------------------|------------------------------------------
* --------------------------------------|------------------------------------------
* --------------------------------------|------------------------------------------
*/
utmpos start_perpendicular_line = newpos(start, perperndicularOrientation, -METERS_TO_EXTEND);
utmpos stop_perpendicular_line = newpos(start, perperndicularOrientation, METERS_TO_EXTEND);
// Store one intersection point per grid line
Dictionary <utmpos, linelatlng> intersectedPoints = new Dictionary <utmpos, linelatlng>();
// lets order distances from every intersected point per line with the "start" point
Dictionary <double, utmpos> ordered_min_to_max = new Dictionary <double, utmpos>();
foreach (linelatlng line in list)
{
// Extend line at both ends so it intersecs for sure with our perpendicular line
utmpos extended_line_start = newpos(line.p1, angle, -METERS_TO_EXTEND);
utmpos extended_line_stop = newpos(line.p2, angle, METERS_TO_EXTEND);
// Calculate intersection point
utmpos p = FindLineIntersection(extended_line_start, extended_line_stop, start_perpendicular_line, stop_perpendicular_line);
// Store it
intersectedPoints[p] = line;
// Calculate distances between interesected point and "start" (i.e. line and start)
double distance_p = start.GetDistance(p);
if (!ordered_min_to_max.ContainsKey(distance_p))
{
ordered_min_to_max.Add(distance_p, p);
}
}
// Acquire keys and sort them.
List <double> ordered_keys = ordered_min_to_max.Keys.ToList();
ordered_keys.Sort();
// Lets select a line that is the closest to "start" point but "mindistance" away at least.
// If we have only one line, return that line whatever the minDistance says
double key = double.MaxValue;
int i = 0;
while (key == double.MaxValue && i < ordered_keys.Count)
{
if (ordered_keys[i] >= minDistance)
{
key = ordered_keys[i];
}
i++;
}
// If no line is selected (because all of them are closer than minDistance, then get the farest one
if (key == double.MaxValue)
{
key = ordered_keys[ordered_keys.Count - 1];
}
// return line
return(intersectedPoints[ordered_min_to_max[key]]);
}
static linelatlng findClosestLine(utmpos start, List<linelatlng> list)
{
linelatlng answer = list[0];
double shortest = double.MaxValue;
foreach (linelatlng line in list)
{
double ans1 = start.GetDistance(line.p1);
double ans2 = start.GetDistance(line.p2);
utmpos shorterpnt = ans1 < ans2 ? line.p1 : line.p2;
if (shortest > start.GetDistance(shorterpnt))
{
answer = line;
shortest = start.GetDistance(shorterpnt);
}
}
return answer;
}
public static List<PointLatLngAlt> CreateGrid(List<PointLatLngAlt> polygon, double altitude, double distance, double spacing, double angle, double turn_radius, StartPosition startpos, bool shutter)
{
if (spacing < 10 && spacing != 0)
spacing = 10;
if (distance < 5)
distance = 5;
if (polygon.Count == 0)
return new List<PointLatLngAlt>();
double minLaneSeparationINMeters = 2 * turn_radius;
/*
if (minLaneSeparationINMeters < MinDistanceBetweenLines)
{
CustomMessageBox.Show("Sorry, minimal distance between lines is " + MinDistanceBetweenLines + " meters");
minLaneSeparation = (float)(MinDistanceBetweenLines / distance + 1);
minLaneSeparationINMeters = minLaneSeparation * distance;
}
*/
List<PointLatLngAlt> ans = new List<PointLatLngAlt>();
int utmzone = polygon[0].GetUTMZone();
List<utmpos> utmpositions = utmpos.ToList(PointLatLngAlt.ToUTM(utmzone, polygon), utmzone);
if (utmpositions[0] != utmpositions[utmpositions.Count - 1])
utmpositions.Add(utmpositions[0]); // make a full loop
Rect area = getPolyMinMax(utmpositions);
// get initial grid
// used to determine the size of the outer grid area
double diagdist = area.DiagDistance();
// somewhere to store out generated lines
List<linelatlng> grid = new List<linelatlng>();
// number of lines we need
int lines = 0;
// get start point bottom left
double x = area.MidWidth;
double y = area.MidHeight;
addtomap(new utmpos(x, y, utmzone),"Base");
// get left extent
double xb1 = x;
double yb1 = y;
// to the left
newpos(ref xb1, ref yb1, angle - 90, diagdist / 2 + distance);
// backwards
newpos(ref xb1, ref yb1, angle + 180, diagdist / 2 + distance);
utmpos left = new utmpos(xb1, yb1, utmzone);
addtomap(left, "left");
// get right extent
double xb2 = x;
double yb2 = y;
// to the right
newpos(ref xb2, ref yb2, angle + 90, diagdist / 2 + distance);
// backwards
newpos(ref xb2, ref yb2, angle + 180, diagdist / 2 + distance);
utmpos right = new utmpos(xb2, yb2, utmzone);
addtomap(right,"right");
// set start point to left hand side
x = xb1;
y = yb1;
// draw the outergrid, this is a grid that cover the entire area of the rectangle plus more.
while (lines < ((diagdist + distance * 2) / distance))
{
// copy the start point to generate the end point
double nx = x;
double ny = y;
newpos(ref nx, ref ny, angle, diagdist + distance*2);
linelatlng line = new linelatlng();
line.p1 = new utmpos(x, y, utmzone);
line.p2 = new utmpos(nx, ny, utmzone);
line.basepnt = new utmpos(x, y, utmzone);
grid.Add(line);
// addtomap(line);
newpos(ref x, ref y, angle + 90, distance);
lines++;
}
// find intersections with our polygon
// store lines that dont have any intersections
List<linelatlng> remove = new List<linelatlng>();
int gridno = grid.Count;
// cycle through our grid
for (int a = 0; a < gridno; a++)
{
double closestdistance = double.MaxValue;
double farestdistance = double.MinValue;
utmpos closestpoint = utmpos.Zero;
utmpos farestpoint = utmpos.Zero;
// somewhere to store our intersections
List<utmpos> matchs = new List<utmpos>();
int b = -1;
int crosses = 0;
utmpos newutmpos = utmpos.Zero;
foreach (utmpos pnt in utmpositions)
{
b++;
if (b == 0)
{
continue;
}
newutmpos = FindLineIntersection(utmpositions[b - 1], utmpositions[b], grid[a].p1, grid[a].p2);
if (!newutmpos.IsZero)
{
crosses++;
matchs.Add(newutmpos);
if (closestdistance > grid[a].p1.GetDistance(newutmpos))
{
closestpoint.y = newutmpos.y;
closestpoint.x = newutmpos.x;
closestpoint.zone = newutmpos.zone;
closestdistance = grid[a].p1.GetDistance(newutmpos);
}
if (farestdistance < grid[a].p1.GetDistance(newutmpos))
{
farestpoint.y = newutmpos.y;
farestpoint.x = newutmpos.x;
farestpoint.zone = newutmpos.zone;
farestdistance = grid[a].p1.GetDistance(newutmpos);
}
}
}
if (crosses == 0) // outside our polygon
{
if (!PointInPolygon(grid[a].p1, utmpositions) && !PointInPolygon(grid[a].p2, utmpositions))
remove.Add(grid[a]);
}
else if (crosses == 1) // bad - shouldnt happen
{
}
else if (crosses == 2) // simple start and finish
{
linelatlng line = grid[a];
line.p1 = closestpoint;
line.p2 = farestpoint;
grid[a] = line;
}
else // multiple intersections
{
linelatlng line = grid[a];
remove.Add(line);
while (matchs.Count > 1)
{
linelatlng newline = new linelatlng();
closestpoint = findClosestPoint(closestpoint, matchs);
newline.p1 = closestpoint;
matchs.Remove(closestpoint);
closestpoint = findClosestPoint(closestpoint, matchs);
newline.p2 = closestpoint;
matchs.Remove(closestpoint);
newline.basepnt = line.basepnt;
grid.Add(newline);
}
}
}
foreach (linelatlng line in remove)
{
grid.Remove(line);
}
foreach (linelatlng line in grid)
{
addtomap(line);
}
if (grid.Count == 0)
return ans;
utmpos startposutm;
switch (startpos)
{
default:
case StartPosition.Home:
startposutm = new utmpos(Host2.cs.HomeLocation);
break;
case StartPosition.BottomLeft:
startposutm = new utmpos(area.Left, area.Bottom, utmzone);
break;
case StartPosition.BottomRight:
startposutm = new utmpos(area.Right, area.Bottom, utmzone);
break;
case StartPosition.TopLeft:
startposutm = new utmpos(area.Left, area.Top, utmzone);
break;
case StartPosition.TopRight:
startposutm = new utmpos(area.Right, area.Top, utmzone);
break;
}
//return
// FindPath(grid, startposutm);
// find closest line point to home
Tuple <linelatlng, bool> closest_ = findClosestLine(startposutm, grid, 0 /*Lane separation does not apply to starting point*/, angle);
linelatlng closest = closest_.Item1;
bool isFurtherMinDintace = closest_.Item2;
bool oldIsFurtherMinDintace = closest_.Item2;
utmpos lastpnt;
if (closest.p1.GetDistance(startposutm) < closest.p2.GetDistance(startposutm))
{
lastpnt = closest.p1;
}
else
{
lastpnt = closest.p2;
}
utmpos newstart = utmpos.Zero, newend = utmpos.Zero, oldstart = newstart, oldend = newend;
int i = 0;
bool flightForward = closest.p1.GetDistance(lastpnt) < closest.p2.GetDistance(lastpnt);
List<PointLatLngAlt> tmp = new List<PointLatLngAlt>();
List<PointLatLngAlt> oldTmp;
while (grid.Count > 0)
{
oldend = newend;
oldstart = newstart;
oldIsFurtherMinDintace = isFurtherMinDintace;
oldTmp = tmp;
tmp = new List<PointLatLngAlt>();
if (flightForward)
{
newstart = newpos(closest.p1, 180 + angle, 2 * turn_radius);
if (spacing > 0)
{
for (int d = (int)(spacing - ((closest.basepnt.GetDistance(closest.p1)) % spacing));
d < (closest.p1.GetDistance(closest.p2));
d += (int)spacing)
{
double ax = closest.p1.x;
double ay = closest.p1.y;
newpos(ref ax, ref ay, angle, d);
addtomap(new utmpos(ax,ay,utmzone),"M");
tmp.Add((new utmpos(ax, ay, utmzone) { Tag = "M"}));
//ans.Add((new utmpos(ax, ay, utmzone) { Tag = "M" }));
// if (shutter.ToLower().StartsWith("y"))
// AddDigicamControlPhoto();
}
}
newend = newpos(closest.p2, angle, 2 * turn_radius);
// if (overshoot1 > 0)
// ans.Add(new utmpos(closest.p2) { Tag = "M" });
lastpnt = closest.p2;
grid.Remove(closest);
if (grid.Count != 0) {
closest_ = findClosestLine(newend, grid, minLaneSeparationINMeters, angle);
closest = closest_.Item1;
isFurtherMinDintace = closest_.Item2;
}
}
else
{
newstart = newpos(closest.p2, 180 + angle, -2 * turn_radius);
if (spacing > 0)
{
for (int d = (int)((closest.basepnt.GetDistance(closest.p2)) % spacing);
d < (closest.p1.GetDistance(closest.p2));
d += (int)spacing)
{
double ax = closest.p2.x;
double ay = closest.p2.y;
newpos(ref ax, ref ay, angle, -d);
addtomap(new utmpos(ax, ay, utmzone), "M");
tmp.Add((new utmpos(ax, ay, utmzone) { Tag = "M" }));
//ans.Add((new utmpos(ax, ay, utmzone) { Tag = "M" }));
// if (shutter.ToLower().StartsWith("y"))
// AddDigicamControlPhoto();
}
}
newend = newpos(closest.p1, angle, -2 * turn_radius);
// if (overshoot2 > 0)
// ans.Add(new utmpos(closest.p1) { Tag = "M" });
lastpnt = closest.p1;
grid.Remove(closest);
if (grid.Count != 0)
{
closest_ = findClosestLine(newend, grid, minLaneSeparationINMeters, angle);
closest = closest_.Item1;
isFurtherMinDintace = closest_.Item2;
}
}
if (i != 0)
{
int sign = flightForward ? -1 : 1;
double addDist = oldend.GetDistance(newstart) * cos_aob(oldend, newstart, newend);
if (addDist < 0)
{
newstart = newpos(newstart, 180 + angle, sign * addDist);
}
else
{
oldend = newpos(oldend, angle, sign * addDist);
}
addtomap(oldstart, "S");
ans.Add(oldstart);
for (int j = 0; j < oldTmp.Count; j++)
ans.Add(oldTmp[j]);
addtomap(oldend, "E");
ans.Add(oldend);
oldTmp.Clear();
//flying around in a circle
if (!oldIsFurtherMinDintace)
{
double tmpAngle = angle;
utmpos midpos = newpos(oldend, 90 + tmpAngle, minLaneSeparationINMeters);
if (midpos.GetDistance(oldend) < midpos.GetDistance(newstart) &&
midpos.GetDistance(newstart) > newstart.GetDistance(oldend))
{
}
else
{
tmpAngle += 180;
}
midpos = newpos(oldend, 90 + tmpAngle, minLaneSeparationINMeters);
ans.Add(midpos);
midpos = newpos(midpos, angle, sign * minLaneSeparationINMeters);
ans.Add(midpos);
midpos = newpos(midpos, 270 + tmpAngle, minLaneSeparationINMeters);
ans.Add(midpos);
}
} else {
double cos_phi = cos_aob(startposutm, newstart, newend);
if (cos_phi > 0)
{
if (Math.Pow(startposutm.GetDistance(newstart), 2) * (1 - cos_phi * cos_phi) > 4 * Math.Pow(minLaneSeparationINMeters, 2))
{
utmpos midpos = newpos(newstart, 90 + angle, minLaneSeparationINMeters);
if (midpos.GetDistance(startposutm) > startposutm.GetDistance(newstart))
{
midpos = newpos(newstart, 270 + angle, minLaneSeparationINMeters);
}
ans.Add(midpos);
}
else
{
utmpos midpos = newpos(newstart, 90 + angle, minLaneSeparationINMeters);
double tmpAngle = angle;
if (midpos.GetDistance(startposutm) < startposutm.GetDistance(newstart))
{
tmpAngle += 180;
}
int sign = flightForward ? -1 : 1;
midpos = newpos(newstart, 90 + tmpAngle, minLaneSeparationINMeters);
ans.Add(midpos);
midpos = newpos(midpos, angle, sign * minLaneSeparationINMeters);
ans.Add(midpos);
midpos = newpos(midpos, 270 + tmpAngle, minLaneSeparationINMeters);
ans.Add(midpos);
}
}
}
flightForward = !flightForward;
i++;
}
addtomap(newstart, "S");
ans.Add(newstart);
for (int j = 0; j < tmp.Count; j++)
ans.Add(tmp[j]);
tmp.Clear();
addtomap(newend, "E");
ans.Add(newend);
// set the altitude on all points
ans.ForEach(plla => { plla.Alt = altitude; });
return ans;
}
public static double cos_aob (utmpos a, utmpos o, utmpos b)
{
double A = a.GetDistance(o), B = b.GetDistance(o), C = a.GetDistance(b);
return (- C * C + A * A + B * B) / (2 * A * B);
}
