// LiYoubing 2010-07-13, modified by renjing 2010-12-29
/// <summary>
/// 双鱼过孔竞速犯规处理
/// </summary>
/// <param name="fish">目标仿真机器鱼</param>
/// <param name="preQuadrant">目标仿真机器鱼前一仿真周期所处象限</param>
private void HandleFouling(ref FishDoubleFishRacingViaHoles fish, int preQuadrant)
{
if (preQuadrant == 1)
{// 将鱼移到右侧障碍物右边且鱼体方向置为PI/2
fish.PositionMm.X = Env.ObstaclesRect[2].PositionMm.X + Env.ObstaclesRect[2].LengthMm / 2 + 50;
fish.PositionMm.Z = Env.ObstaclesRect[2].PositionMm.Z;
fish.BodyDirectionRad = (float)Math.PI / 2;
fish.VelocityDirectionRad = (float)Math.PI / 2;
}
else if (preQuadrant == 2)
{// 将鱼移到底部障碍物下边且鱼体方向置为PI
fish.PositionMm.X = Env.ObstaclesRect[1].PositionMm.X;
fish.PositionMm.Z = Env.ObstaclesRect[1].PositionMm.Z + Env.ObstaclesRect[1].WidthMm / 2 + 50;
fish.BodyDirectionRad = (float)Math.PI;
fish.VelocityDirectionRad = (float)Math.PI;
}
else if (preQuadrant == 3)
{// 将鱼移到左侧障碍物左边且鱼体方向置为3PI/2
fish.PositionMm.X = Env.ObstaclesRect[0].PositionMm.X - Env.ObstaclesRect[0].LengthMm / 2 - 50;
fish.PositionMm.Z = Env.ObstaclesRect[0].PositionMm.Z;
fish.BodyDirectionRad = 3f * (float)Math.PI / 2;
fish.VelocityDirectionRad = 3f * (float)Math.PI / 2;
}
else if (preQuadrant == 4)
{// 将鱼移到顶部障碍物上边且鱼体方向置为0
fish.PositionMm.X = Env.ObstaclesRect[1].PositionMm.X;
fish.PositionMm.Z = Env.ObstaclesRect[1].PositionMm.Z - Env.ObstaclesRect[1].WidthMm / 2 - 50;
fish.BodyDirectionRad = 0;
fish.VelocityDirectionRad = 0;
}
}
// LiYoubing 2010-07-14, modified by renjing 2010-12-29
/// <summary>
/// 双鱼过孔竞速犯规判断
/// </summary>
/// <param name="fish">目标仿真机器鱼</param>
/// <param name="curQuadrant">当前仿真周期所在象限</param>
/// <param name="preQuadrant">前一仿真周期所在象限</param>
/// <returns>true犯规；false未犯规</returns>
private bool JudgeFouling(FishDoubleFishRacingViaHoles fish, int curQuadrant, int preQuadrant)
{
if (fish.PositionMm.X == 0 || fish.PositionMm.Z == 0)
{// 当前位置在坐标轴上
return(false);
}
else if ((Math.Abs(curQuadrant - preQuadrant) == 2) ||
(curQuadrant - preQuadrant == -1) || (curQuadrant - preQuadrant == 3))
{// 前后仿真周期分别处于一三或二四象限/鱼逆时针游过一个象限或顺时针游过三个象限
return(true);
}
if (fish.PositionMm.Z * fish.PrePositionMm.Z <= 0)
{
if ((fish.PositionMm.X >= Env.ObstaclesRect[0].PolygonVertices[1].X) &&
(fish.PositionMm.X <= Env.ObstaclesRect[2].PolygonVertices[0].X))
{// 位于最左边障碍物和最右边障碍物之间 方形障碍物左上/右上/右下/左下四个顶点序号依次为0/1/2/3
return(true);
}
else if (Math.Abs(fish.PositionMm.X - fish.PrePositionMm.X) > Env.FieldInfo.FieldLengthXMm / 2)
{
return(true);
}
}
return(false);
}
// added by LiYoubing 2010-07-06, modified by renjing 2010-12-29
/// <summary>
/// 双鱼过孔竞速控制规则
/// 根据鱼相对场地中心点游过的角度（用弧度单位）的累计来判断是否并排及并排时是哪条鱼追上了另一条鱼
/// 角度计算坐标系以场地中心为原点，正右为X轴正半轴，正下为Y轴正半轴
/// </summary>
private void HandleSpecialRulesWhileChasingOnField()
{
for (int i = 0; i < 2; i++)
{
// 计算仿真机器鱼位置角[0,2π)及所在象限
currentRadian[i] = CalcRadianAndQuadrant(Teams[i].Fishes[0], ref currentQuadrant[i]);
// 犯规判断
bool bFouledFlag = JudgeFouling(Teams[i].Fishes[0], currentQuadrant[i], previousQuadrant[i]);
if (bFouledFlag == true)
{ // 犯规了
CommonPara.IsPaused = true; // 中断仿真循环停止计时
CommonPara.IsPauseNeeded = true; // 指示界面模拟点击“暂停”按钮
// 犯规提示
MessageBox.Show(string.Format("【{0}】 Fouled!", Teams[i].Para.Name),
"Confirming", MessageBoxButtons.OK, MessageBoxIcon.Warning);
// 犯规处理
FishDoubleFishRacingViaHoles fish = Teams[i].Fishes[0];
HandleFouling(ref fish, previousQuadrant[i]);
}
else
{// 没有犯规则累加成绩处理计数
DataProcessing(ref previousQuadrant[i], currentQuadrant[i],
ref previousRadian[i], currentRadian[i], ref totalRadian[i]);
}
}
}
// LiYoubing 2010-07-14, modified by renjing 2010-12-29
/// <summary>
/// 双鱼过孔竞速计算仿真机器鱼位置角及所在象限
/// 场地中心为原点，正右为正X正下为正Z轴，位置角从正X开始沿顺时针取[0,2π)
/// </summary>
/// <param name="fish">仿真机器鱼</param>
/// <param name="currentQuadrant">仿真机器鱼前方矩形中心当前所在象限，ref型，被赋予新值</param>
/// <returns>场地中心点指向仿真机器鱼中心点向量的方向（取[0,2π)）</returns>
private float CalcRadianAndQuadrant(FishDoubleFishRacingViaHoles fish, ref int currentQuadrant)
{
// 先计算仿真机器鱼位置和原点连线与X轴的夹角（取[0,PI/2)）
double curRadian;
if (fish.PositionMm.X != 0)
{// 不在Z轴上可通过反正切求夹角
curRadian = Math.Atan2(Math.Abs(fish.PositionMm.Z), Math.Abs(fish.PositionMm.X));
}
else
{ // 在Z轴上
if (fish.PositionMm.Z < 0)
{ // 在Z轴负半轴上
curRadian = 3 * Math.PI / 2;
}
else if (fish.PositionMm.Z > 0)
{// 在Z轴正半轴上
curRadian = Math.PI / 2;
}
else
{// 在原点
curRadian = 0;
}
}
if (fish.PositionMm.X > 0 && fish.PositionMm.Z >= 0)
{// 正X轴算第一象限
currentQuadrant = 1;
}
else if (fish.PositionMm.X <= 0 && fish.PositionMm.Z > 0)
{// 正Z轴算第二象限
curRadian = Math.PI - curRadian;
currentQuadrant = 2;
}
else if (fish.PositionMm.X < 0 && fish.PositionMm.Z <= 0)
{// 负X轴算第三象限
curRadian = Math.PI + curRadian;
currentQuadrant = 3;
}
else if (fish.PositionMm.X >= 0 && fish.PositionMm.Z < 0)
{// 负Z轴算第四象限
curRadian = 2 * Math.PI - curRadian;
currentQuadrant = 4;
}
return((float)curRadian);
}
