public static Geometry CreateGeometry(GunPitchLimitsComponent traverse,
TurretYawLimits yawLimits,
double size,
Point center,
double geometryRotation = 0,
double margin = 0,
double padding = 0,
Func <double, double> verticalTraverseTransform = null)
{
if (verticalTraverseTransform == null)
{
verticalTraverseTransform = GunTraverseHelper.DefaultVerticalTraverseTransform;
}
if (traverse.HasSingularValue && yawLimits.Range == 360)
{
var radius = size / 2 - margin;
return(new EllipseGeometry(center, radius, radius));
}
else
{
var maxRadiusInDegrees = traverse.GetMaxValue();
var scale = (size / 2 - margin - padding) / maxRadiusInDegrees;
Func <double, double> radiusConverter = r => padding + Math.Max(verticalTraverseTransform(r) * scale, 0);
return(GunTraverseHelper.CreateGeometry(traverse, yawLimits, center, radiusConverter, geometryRotation));
}
}
public static void CartesianToPolar(Point center, Point point, out double radius, out double degree)
{
var d = point - center;
radius = d.Length;
degree = GunTraverseHelper.NormalizeAngle(Math.Atan2(d.Y, d.X) * 180 / Math.PI);
}
private static Geometry ProcessGeometryHorizontalTraverse(GunPitchLimitsComponent traverse,
TurretYawLimits yawLimits,
Point center,
double geometryRotation,
Geometry geometry,
double maxRadius)
{
if (yawLimits == null || yawLimits.Range == 360)
{
return(geometry);
}
else
{
// create a horizontal fan
var fanFigure = new PathFigure {
StartPoint = center
};
var point = GunTraverseHelper.PolarToCartesian(center, maxRadius, 360 - yawLimits.Right + geometryRotation);
fanFigure.Segments.Add(new LineSegment(point, true));
point = GunTraverseHelper.PolarToCartesian(center, maxRadius, -yawLimits.Left + geometryRotation);
fanFigure.Segments.Add(new ArcSegment(point,
new Size(maxRadius, maxRadius),
yawLimits.Range,
yawLimits.Range > 180,
SweepDirection.Counterclockwise,
true));
fanFigure.IsClosed = true;
var fanGeometry = new PathGeometry();
fanGeometry.Figures.Add(fanFigure);
return(new CombinedGeometry(GeometryCombineMode.Intersect, geometry, fanGeometry));
}
}
public static double RotateAngle(double from, double to, double delta, double limitRight, double limitLeft)
{
from = GunTraverseHelper.NormalizeAngle(from);
to = GunTraverseHelper.NormalizeAngle(to);
if (Math.Abs(from - to) < 0.0001)
{
return(to);
}
delta = GunTraverseHelper.NormalizeAngle(delta);
double direction;
if (from < to)
{
if (limitRight + limitLeft < 360 &&
from <= limitRight &&
to >= 360 - limitLeft)
{
direction = -1.0;
}
else if (to - from > 180)
{
direction = -1.0;
}
else
{
direction = 1.0;
}
}
else
{
if (limitRight + limitLeft < 360 &&
to <= limitRight &&
from >= 360 - limitLeft)
{
direction = 1.0;
}
else if (from - to > 180)
{
direction = 1.0;
}
else
{
direction = -1.0;
}
}
var result = from + delta * direction;
if ((from < to && result > to) || (from > to && result < to))
{
result = to;
}
return(result);
}
private Point CalculateGunPointerPos(Point center, double pitch, double yaw)
{
if (_elevationRadiusConverter == null)
{
return(new Point());
}
var distance = this.GunPitch < 0 ? _elevationRadiusConverter(pitch) : _depressionRadiusConverter(pitch);
return(GunTraverseHelper.PolarToCartesian(center, distance, -yaw - this.VehicleYaw));
}
private void UpdateTraverse()
{
if (UseRealTraverseMode)
{
var now = DateTime.Now;
var deltaTime = now - _previousUpdateTime;
var turretYaw = GunTraverseHelper.RotateAngle(
this.TurretYaw,
_destinationTurretYaw,
deltaTime.TotalSeconds * this.TurretTraverseSpeed,
this.TurretYawLimits == null ? 180.0 : this.TurretYawLimits.Right,
this.TurretYawLimits == null ? 180.0 : this.TurretYawLimits.Left);
double elevation, depression;
if (this.ElevationLimits == null)
{
elevation = 0;
depression = 0;
}
else
{
elevation = this.ElevationLimits.GetValue(turretYaw);
depression = this.DepressionLimits.GetValue(turretYaw);
}
var gunPitch = GunTraverseHelper.RotateAngle(
this.GunPitch + 180,
_destinationGunPitch + 180,
deltaTime.TotalSeconds * this.GunTraverseSpeed,
elevation,
depression) - 180;
this.ClampRotation(ref turretYaw, ref gunPitch);
_internalSettingTraverse = true;
this.TurretYaw = turretYaw;
this.GunPitch = gunPitch;
_internalSettingTraverse = false;
_previousUpdateTime = now;
}
else
{
_internalSettingTraverse = true;
this.GunPitch = _destinationGunPitch;
this.TurretYaw = _destinationTurretYaw;
_internalSettingTraverse = false;
}
}
private static PathSegment CreateTraverseFigureTransition(ref PathFigure figure, ref Point center, double startAngle, double transitionAngle, double from, double to)
{
const double step = 0.1;
var endAngle = startAngle + transitionAngle;
var delta = to - from;
var segment = new PolyLineSegment();
segment.IsStroked = true;
for (var angle = startAngle + step; angle <= endAngle; angle += step)
{
var traverse = from + delta * (angle - startAngle) / transitionAngle;
segment.Points.Add(GunTraverseHelper.PolarToCartesian(center, traverse, angle));
}
return(segment);
}
private void UpdateRotation()
{
var position = Mouse.GetPosition(this.Root);
double size;
double radius;
Point center;
this.GetDimentions(out size, out radius, out center);
double distance, degree;
GunTraverseHelper.CartesianToPolar(center, position, out distance, out degree);
degree -= this.VehicleYaw;
var turretYaw = GunTraverseHelper.NormalizeAngle(degree, -180);
var gunPitch = _inverseVerticalTraverseConverter(distance);
this.SetRotation(turretYaw, gunPitch);
}
public void SetTraverse(GunPitchLimitsComponent gunPitch, TurretYawLimits turretYaw)
{
this.CurveCanvas.Children.Clear();
if (gunPitch == null)
{
return;
}
var traverseFigureStrokeStyle = this.FindResource("TraverseFigure") as Style;
var maxRadius = gunPitch.GetMaxValue();
//maxRadius = Math.Ceiling(maxRadius / 5) * 5;
const double margin = 1;
var scale = 80 / (maxRadius + margin);
var size = scale * maxRadius * 2;
var center = new Point(100, 100);
var figurePath = new Path
{
Data = GunTraverseHelper.CreateGeometry(gunPitch,
turretYaw,
size,
center,
90,
scale * margin,
verticalTraverseTransform: v => v + 1),
Style = traverseFigureStrokeStyle
};
this.CurveCanvas.Children.Add(figurePath);
// draw references
var thinReferenceGeometry = new GeometryGroup();
var thickReferenceGeometry = new GeometryGroup();
const double referenceCircleGap = 20;
const double halfReferenceCircleGap = referenceCircleGap / 2;
var sign = Math.Sign(maxRadius);
var absMaxRadius = Math.Abs(maxRadius);
var thickDivisor = absMaxRadius > 45 ? 20 : absMaxRadius > 25 ? 10 : 5;
var thinDivisor = absMaxRadius > 25 ? 5 : 1;
for (var i = thinDivisor; i <= absMaxRadius; i += thinDivisor)
{
var radius = scale * i * sign;
Geometry geometry;
var isThickRing = i % thickDivisor == 0;
if (absMaxRadius < 10 || isThickRing)
{
var gapHalfAngle = Math.Asin(halfReferenceCircleGap / radius) * 180 / Math.PI;
if (double.IsNaN(gapHalfAngle))
{
gapHalfAngle = 180;
}
var startPoint = GunTraverseHelper.PolarToCartesian(center, radius, gapHalfAngle);
var endPoint = GunTraverseHelper.PolarToCartesian(center, radius, 360 - gapHalfAngle);
var arc = new ArcSegment(endPoint, new Size(radius, radius), 360 - gapHalfAngle * 2, true, SweepDirection.Counterclockwise, true);
var figure = new PathFigure(startPoint, new[] { arc }, false);
geometry = new PathGeometry(new[] { figure });
var referenceTextContainer = new Grid
{
Width = 20,
Height = referenceCircleGap
};
var referenceTextContainerPosition = GunTraverseHelper.PolarToCartesian(center, radius, 0);
Canvas.SetLeft(referenceTextContainer, referenceTextContainerPosition.X - 10);
Canvas.SetTop(referenceTextContainer, referenceTextContainerPosition.Y - halfReferenceCircleGap);
var referenceText = new TextBlock
{
Text = (i * sign).ToString(),
HorizontalAlignment = HorizontalAlignment.Center,
VerticalAlignment = VerticalAlignment.Center,
FontSize = isThickRing ? 10 : 8,
Foreground = isThickRing ? Brushes.White : new SolidColorBrush(Color.FromArgb(0x80, 0xff, 0xff, 0xff))
};
referenceTextContainer.Children.Add(referenceText);
this.CurveCanvas.Children.Add(referenceTextContainer);
}
else
{
geometry = new EllipseGeometry(center, radius, radius);
}
if (isThickRing)
{
thickReferenceGeometry.Children.Add(geometry);
}
else
{
thinReferenceGeometry.Children.Add(geometry);
}
}
var thinReferencePath = new Path
{
Data = thinReferenceGeometry,
Style = this.FindResource("ThinReferenceStroke") as Style
};
this.CurveCanvas.Children.Add(thinReferencePath);
var thickReferencePath = new Path
{
Data = thickReferenceGeometry,
Style = this.FindResource("ThickReferenceStroke") as Style
};
this.CurveCanvas.Children.Add(thickReferencePath);
}
public static Geometry CreateGeometry(GunPitchLimitsComponent traverse,
TurretYawLimits yawLimits,
Point center,
Func <double, double> radiusConverter,
double geometryRotation = 0)
{
Geometry geometry;
double maxRadius;
var data = traverse.Data;
if (traverse.HasSingularValue)
{
var radius = radiusConverter(data[0].Limit);
geometry = new EllipseGeometry(center, radius, radius);
maxRadius = radius;
}
else
{
maxRadius = radiusConverter(traverse.GetMaxValue());
var figureFigure = new PathFigure();
var previousTheta = 0.0;
var previousRadius = 0.0;
var previousNode = (GunPitchLimitsComponent.PitchData)null;
for (var i = 0; i < data.Length; ++i)
{
var node = data[i];
var theta = geometryRotation + node.Angle * 360;
var radius = radiusConverter(node.Limit);
var point = GunTraverseHelper.PolarToCartesian(center, radius, theta);
var thetaRange = theta - previousTheta;
if (i == 0)
{
figureFigure.StartPoint = point;
}
else
{
Debug.Assert(previousNode != null, "previousNode != null");
if (previousNode.Angle == node.Angle)
{
figureFigure.Segments.Add(new LineSegment(point, true));
}
else if (previousNode.Limit == node.Limit)
{
figureFigure.Segments.Add(new ArcSegment(point,
new Size(radius, radius),
thetaRange,
thetaRange >= 180,
SweepDirection.Counterclockwise,
true));
}
else
{
figureFigure.Segments.Add(GunTraverseHelper.CreateTraverseFigureTransition(ref figureFigure,
ref center,
previousTheta,
thetaRange,
previousRadius,
radius));
}
}
previousTheta = theta;
previousNode = node;
previousRadius = radius;
}
var pathGeometry = new PathGeometry();
pathGeometry.Figures.Add(figureFigure);
geometry = pathGeometry;
}
return(GunTraverseHelper.ProcessGeometryHorizontalTraverse(traverse,
yawLimits,
center,
geometryRotation,
geometry,
maxRadius));
}
private void UpdateTraverseBoundary()
{
if (this.ElevationLimits == null)
{
this.BoundaryCanvas.Children.Clear();
return;
}
double size;
double radius;
Point center;
this.GetDimentions(out size, out radius, out center);
if (size == 0)
{
return;
}
var oneThirdsRadius = radius / 3;
var maxElevation = this.ElevationLimits.GetMaxValue();
var maxDepression = this.DepressionLimits.GetMaxValue();
var maxTraverse = -maxElevation + maxDepression;
// elevation/outer figure
_elevationRadiusConverter = r => (-r + maxDepression) / maxTraverse * oneThirdsRadius * 2 + oneThirdsRadius;
_depressionRadiusConverter = r => (maxDepression - r) / maxTraverse * oneThirdsRadius * 2 + oneThirdsRadius;
_inverseVerticalTraverseConverter = r => - ((r - oneThirdsRadius) / (oneThirdsRadius * 2) * maxTraverse - maxDepression);
var elevationGeometry = GunTraverseHelper.CreateGeometry(this.ElevationLimits, this.TurretYawLimits, center, _elevationRadiusConverter);
var depressionGeometry = GunTraverseHelper.CreateGeometry(this.DepressionLimits, this.TurretYawLimits, center, _depressionRadiusConverter);
var combinedGeometry = new CombinedGeometry(GeometryCombineMode.Exclude, elevationGeometry, depressionGeometry);
var figure = new Path {
Data = combinedGeometry
};
var borderStyle = this.FindResource("Border") as Style;
var delimiterStyle = this.FindResource("Delimiter") as Style;
figure.Style = borderStyle;
var delimiterCircle = new Ellipse();
var delimiterCircleSize = _depressionRadiusConverter(0) * 2;
delimiterCircle.Width = delimiterCircleSize;
delimiterCircle.Height = delimiterCircleSize;
delimiterCircle.Style = delimiterStyle;
Canvas.SetLeft(delimiterCircle, (size - delimiterCircleSize) / 2);
Canvas.SetTop(delimiterCircle, (size - delimiterCircleSize) / 2);
this.BoundaryCanvas.Children.Clear();
this.BoundaryCanvas.Children.Add(delimiterCircle);
this.BoundaryCanvas.Children.Add(figure);
Canvas.SetLeft(this.YawDirectionLine, center.X);
Canvas.SetTop(this.YawDirectionLine, center.Y);
}
