public static Facing ToFacing(this Angle heading, Vector relativePosition)
{
var azimuth = Math.Atan2(relativePosition.Y, relativePosition.X);
var relativeAzimuth = azimuth - heading.Value;
relativeAzimuth = Angle.ReduceAngle(relativeAzimuth);
Facing facing = Facing.None;
// err on the side of gnerosity and consider all edge cases in both facings
if (relativeAzimuth >= -PiOnFour && relativeAzimuth <= PiOnFour)
{
facing = facing | Facing.Bow;
}
if (relativeAzimuth <= -PiOnFour && relativeAzimuth >= -3 * PiOnFour)
{
facing = facing | Facing.Starboard;
}
if (relativeAzimuth >= PiOnFour && relativeAzimuth <= 3 * PiOnFour)
{
facing = facing | Facing.Port;
}
if (relativeAzimuth >= 3 * PiOnFour || relativeAzimuth <= -3 * PiOnFour)
{
facing = facing | Facing.Stern;
}
return(facing);
}
public void DetermineTurnEndWestAntiClockwise()
{
Vector turningCircle = new Vector(2, 0);
Vector destination = new Vector(-3, 0);
double turningCircleRadius = 2;
Vector turnPointToDestinationOffset = destination - turningCircle;
Angle tangle = new Angle(turnPointToDestinationOffset);
Angle cosangle = new Angle(Math.Acos(2.0 / 5.0));
Angle expectedAngle = tangle - cosangle;
expectedAngle.ReduceAngle();
var path = new Path();
Assert.AreEqual(expectedAngle, path.DetermineTurnEnd(turnPointToDestinationOffset, turningCircleRadius, TurnDirection.AntiClockwise));
}
/// <summary>
/// Determines the positions of the two possible turning circles
/// Relative to the initial position which is not passed into the function
/// </summary>
/// <param name="initialVelocity">The current velocity of the object</param>
/// <param name="radius">The desired radius of the object</param>
/// <param name="circleOne">The first of the two possible turning circles</param>
/// <param name="circleTwo">The second of the two possible turning circles</param>
public void DetermineTurningCircles(Vector initialVelocity, double radius, out Vector circleOne, out Vector circleTwo)
{
Angle velocityAngle;
// calculate the angle of the current velocity
velocityAngle = new Angle(initialVelocity);
velocityAngle.ReduceAngle();
//double vesselSpeed = initialVelocity.Length;
// calculate the radius if the turning circle based on the acceleration and current speed
//double radius = CalcRadius(vesselSpeed, acceleration);
// calcualte both of the turning circles
Angle angleOne = new Angle(velocityAngle.Value + (Math.PI / 2));
circleOne = CoordinateConversions.RadialToVector(angleOne, radius);
Angle angleTwo = new Angle(velocityAngle.Value - (Math.PI / 2));
circleTwo = CoordinateConversions.RadialToVector(angleTwo, radius);
}
/// <summary>
/// Determines the positions of the two possible turning circles
/// Relative to the initial position which is not passed into the function
/// </summary>
/// <param name="initialVelocity">The current velocity of the object</param>
/// <param name="radius">The desired radius of the object</param>
/// <param name="circleOne">The first of the two possible turning circles</param>
/// <param name="circleTwo">The second of the two possible turning circles</param>
public void DetermineTurningCircles(Vector initialVelocity, double radius, out Vector circleOne, out Vector circleTwo)
{
Angle velocityAngle;
// calculate the angle of the current velocity
velocityAngle = new Angle(initialVelocity);
velocityAngle.ReduceAngle();
//double vesselSpeed = initialVelocity.Length;
// calculate the radius if the turning circle based on the acceleration and current speed
//double radius = CalcRadius(vesselSpeed, acceleration);
// calcualte both of the turning circles
Angle angleOne = new Angle(velocityAngle.Value + (Math.PI / 2));
circleOne = CoordinateConversions.RadialToVector(angleOne, radius);
Angle angleTwo = new Angle(velocityAngle.Value - (Math.PI / 2));
circleTwo = CoordinateConversions.RadialToVector(angleTwo, radius);
}
