protected internal override void Save(XmlWriter writer)
{
writer.WriteStartElement("line");
writer.WriteAttributeString("start", ManeuveringBoard.FormatXmlVector(Start));
writer.WriteAttributeString("end", ManeuveringBoard.FormatXmlVector(End));
writer.WriteEndElement();
}
internal string GetStatusText()
{
Vector2 vector = Vector;
return("Line: " + ManeuveringBoard.GetAngleString(ManeuveringBoard.SwapBearing(vector.Angle)) + ", " +
Board.GetDistanceString(vector.Length));
}
public InterceptForm(UnitShape unit, UnitShape target, UnitSystem unitSystem, bool disableControls) : this()
{
if (target != null)
{
if (unit != null)
{
txtBearing.Text = ManeuveringBoard.GetAngleString(ManeuveringBoard.AngleBetween(unit.Position, target.Position));
txtRange.Text = ManeuveringBoard.GetDistanceString((target.Position - unit.Position).Length, unitSystem);
txtBearing.Enabled = txtRange.Enabled = !disableControls;
txtSpeed.Select();
}
txtCourse.Text = ManeuveringBoard.GetAngleString(target.Direction);
txtTargetSpeed.Text = ManeuveringBoard.GetSpeedString(target.Speed, unitSystem);
txtCourse.Enabled = txtTargetSpeed.Enabled = !disableControls;
}
if (unit == null)
{
radVector.Enabled = radWaypoint.Enabled = btnOK.Enabled = false;
}
this.unit = unit;
this.target = target;
this.unitSystem = unitSystem;
UpdateSolution();
}
protected internal override void Save(XmlWriter writer)
{
writer.WriteStartElement("waypoint");
writer.WriteAttributeString("position", ManeuveringBoard.FormatXmlVector(Position));
base.Save(writer);
writer.WriteEndElement();
}
protected internal override void Save(XmlWriter writer)
{
writer.WriteStartElement("unit");
writer.WriteAttributeString("id", GetXmlId());
if (!string.IsNullOrEmpty(Name))
{
writer.WriteAttributeString("name", Name);
}
writer.WriteAttributeString("position", ManeuveringBoard.FormatXmlVector(Position));
writer.WriteAttribute("course", Direction);
writer.WriteAttribute("speed", Speed);
string typeString = Type.ToString();
writer.WriteAttributeString("type", typeString.Substring(0, 1).ToLowerInvariant() + typeString.Substring(1));
if (TMASolution != null)
{
TMASolution.Save(writer);
}
if (Children.Count != 0)
{
writer.WriteStartElement("children");
foreach (Shape shape in Children)
{
shape.Save(writer);
}
writer.WriteEndElement();
}
writer.WriteEndElement();
}
protected internal override void Save(XmlWriter writer)
{
writer.WriteStartElement("circle");
writer.WriteAttributeString("position", ManeuveringBoard.FormatXmlVector(Position));
writer.WriteAttribute("radius", Radius);
writer.WriteEndElement();
}
public static LineShape Load(XmlReader reader)
{
LineShape line = new LineShape();
line.Start = ManeuveringBoard.ParseXmlPoint(reader.GetStringAttribute("start"));
line.End = ManeuveringBoard.ParseXmlPoint(reader.GetStringAttribute("end"));
return(line);
}
public override void Update(Shape shape, BoardPoint dragStart, BoardPoint dragPoint)
{
UnitShape unit = (UnitShape)shape;
Vector2 vector = dragPoint - dragStart;
unit.Direction = ManeuveringBoard.SwapBearing(vector.Angle);
unit.Speed = vector.Length * (1.0 / ManeuveringBoard.VectorTime);
}
public static CircleShape Load(XmlReader reader)
{
CircleShape circle = new CircleShape();
circle.Position = ManeuveringBoard.ParseXmlPoint(reader.GetStringAttribute("position"));
circle.Radius = reader.GetDoubleAttribute("radius");
return(circle);
}
internal void SetBoard(ManeuveringBoard board)
{
Board = board;
foreach (Shape descendant in EnumerateDescendants())
{
descendant.Board = board;
}
}
public static Waypoint Load(XmlReader reader)
{
Waypoint shape = new Waypoint();
LoadPositionalData(shape, reader);
shape.Position = ManeuveringBoard.ParseXmlPoint(reader.GetStringAttribute("position"));
return(shape);
}
public BackgroundScaleForm(double pixels, double meters, UnitSystem unitSystem) : this()
{
lblPixels.Text = pixels.ToString("0.##") + " pixels represents...";
txtLength.Text = ManeuveringBoard.GetDistanceString(meters, unitSystem);
txtLength.Tag = meters;
txtLength.WasChanged = false;
this.unitSystem = unitSystem;
}
public static PointObservation Load(XmlReader reader, Dictionary <Observation, string> observers)
{
PointObservation shape = new PointObservation();
LoadPositionalData(shape, reader);
shape.Position = ManeuveringBoard.ParseXmlPoint(reader.GetStringAttribute("position"));
observers.Add(shape, reader.GetAttribute("observer"));
return(shape);
}
void FillRelativeTo(ChangeTrackingTextBox txtBearing, ChangeTrackingTextBox txtDistance, Point2 relativePoint)
{
double angle = ManeuveringBoard.AngleBetween(relativePoint, posDataPoint.Value);
txtBearing.Text = (angle * MathConst.RadiansToDegrees).ToString("0.##");
txtBearing.Tag = angle;
double distance = relativePoint.DistanceTo(posDataPoint.Value);
txtDistance.Text = ManeuveringBoard.GetDistanceString(distance, unitSystem);
txtDistance.Tag = distance;
txtBearing.WasChanged = txtDistance.WasChanged = false;
}
public BoardOptionsForm(ManeuveringBoard board) : this()
{
chkShowAllObservations.Checked = board.ShowAllObservations;
cmbUnitSystem.SelectedIndex = (int)board.UnitSystem;
btnBackground.BackColor = board.BackColor;
btnObservations.BackColor = board.ObservationColor;
btnReference.BackColor = board.ReferenceColor;
btnScale1.BackColor = board.ScaleColor1;
btnScale2.BackColor = board.ScaleColor2;
btnSelected.BackColor = board.SelectedColor;
btnTMA.BackColor = board.TMAColor;
btnUnselected.BackColor = board.UnselectedColor;
}
protected static bool TryParseLength(string text, UnitSystem unitSystem, out double meters)
{
Match m = lengthRe.Match(text);
if (!m.Success || !double.TryParse(m.Groups["number"].Value, out meters))
{
meters = 0;
return(false);
}
else
{
LengthUnit unit;
switch (m.Groups["unit"].Value.ToLowerInvariant())
{
case "ft": unit = LengthUnit.Foot; break;
case "km": unit = LengthUnit.Kilometer; break;
case "kyd": unit = LengthUnit.Kiloyard; break;
case "m": unit = LengthUnit.Meter; break;
case "mi": unit = LengthUnit.Mile; break;
case "nm":
case "nmi": unit = LengthUnit.NauticalMile; break;
case "yd": unit = LengthUnit.Yard; break;
default:
switch (unitSystem)
{
case UnitSystem.Imperial: unit = LengthUnit.Mile; break;
case UnitSystem.Metric: unit = LengthUnit.Kilometer; break;
case UnitSystem.NauticalImperial:
case UnitSystem.NauticalMetric: unit = LengthUnit.NauticalMile; break;
default: unit = LengthUnit.Meter; break;
}
break;
}
meters = ManeuveringBoard.ConvertFromUnit(meters, unit);
return(true);
}
}
public static new UnitShape Load(XmlReader reader, Dictionary <Observation, string> observers, Dictionary <string, UnitShape> unitsById)
{
UnitShape shape = new UnitShape();
shape.Name = reader.GetAttribute("name");
shape.Position = ManeuveringBoard.ParseXmlPoint(reader.GetStringAttribute("position"));
shape.Direction = reader.GetDoubleAttribute("course");
shape.Speed = reader.GetDoubleAttribute("speed");
shape.Type = Utility.ParseEnum <UnitShapeType>(reader.GetStringAttribute("type", "unknown"), true);
string id = reader.GetAttribute("id");
if (!string.IsNullOrEmpty(id))
{
unitsById.Add(id, shape);
}
if (!reader.IsEmptyElement)
{
reader.Read();
while (reader.NodeType == XmlNodeType.Element)
{
if (reader.LocalName == "tmaSolution")
{
shape.TMASolution = TMASolution.Load(reader);
}
else if (reader.LocalName == "children" && !reader.IsEmptyElement)
{
reader.Read(); // move to either the first child or the end element
while (reader.NodeType == XmlNodeType.Element)
{
shape.Children.Add(Shape.Load(reader, observers, unitsById));
}
reader.ReadEndElement();
}
else
{
throw new InvalidDataException("Expected element " + reader.LocalName);
}
}
}
return(shape);
}
protected static bool TryParseSpeed(string text, UnitSystem unitSystem, out double metersPerSecond)
{
Match m = speedRe.Match(text);
if (!m.Success || !double.TryParse(m.Groups["number"].Value, out metersPerSecond))
{
metersPerSecond = 0;
return(false);
}
else
{
SpeedUnit unit;
switch (m.Groups["unit"].Value.ToLowerInvariant())
{
case "kn":
case "kt":
case "kts": unit = SpeedUnit.Knots; break;
case "kph": unit = SpeedUnit.KilometersPerHour; break;
case "mph": unit = SpeedUnit.MilesPerHour; break;
case "mps":
case "m/s": unit = SpeedUnit.MetersPerSecond; break;
default:
switch (unitSystem)
{
case UnitSystem.Imperial: unit = SpeedUnit.MilesPerHour; break;
case UnitSystem.Metric: unit = SpeedUnit.KilometersPerHour; break;
case UnitSystem.NauticalImperial:
case UnitSystem.NauticalMetric: unit = SpeedUnit.Knots; break;
default: unit = SpeedUnit.MetersPerSecond; break;
}
break;
}
metersPerSecond = ManeuveringBoard.ConvertFromUnit(metersPerSecond, unit);
return(true);
}
}
public ShapeDataForm(Shape shape, UnitSystem unitSystem) : this()
{
if (shape == null)
{
throw new ArgumentNullException();
}
this.unitSystem = unitSystem;
txtName.Text = shape.Name;
lblParent.Text = shape.Parent == null ? "<none>" : string.IsNullOrEmpty(shape.Parent.Name) ? "<unnamed shape>" : shape.Parent.Name;
UnitShape unit = shape as UnitShape;
if (unit != null)
{
txtSize.Enabled = false;
txtDirection.Tag = unit.Direction;
txtDirection.Text = (unit.Direction * MathConst.RadiansToDegrees).ToString("0.##");
txtSpeed.Tag = unit.Speed;
txtSpeed.Text = ManeuveringBoard.GetSpeedString(unit.Speed, unitSystem);
cmbType.SelectedIndex = (int)unit.Type;
if (unit.Parent == null)
{
chkRelative.Enabled = false;
}
else
{
chkRelative.Checked = unit.IsMotionRelative;
}
}
else
{
txtSpeed.Enabled = false;
chkRelative.Enabled = false;
cmbType.Enabled = false;
LineShape line = shape as LineShape;
if (line != null)
{
double angle = ManeuveringBoard.AngleBetween(line.Start, line.End), length = line.Length;
txtDirection.Text = (angle * MathConst.RadiansToDegrees).ToString("0.##");
txtDirection.Tag = angle;
txtSize.Text = ManeuveringBoard.GetDistanceString(length, unitSystem);
txtSize.Tag = length;
}
else
{
CircleShape circle = shape as CircleShape;
if (circle != null)
{
txtDirection.Enabled = false;
txtSize.Text = ManeuveringBoard.GetDistanceString(circle.Radius, unitSystem);
txtSize.Tag = circle.Radius;
lblSize.Text = "Radius";
}
else
{
throw new NotImplementedException();
}
}
}
// set these to false, since they may have been set to true by the programmatic changes above
directionTextChanged = sizeTextChanged = speedTextChanged = false;
}
public PositionalDataForm(PositionalDataShape posData, UnitSystem unitSystem) : this()
{
this.unitSystem = unitSystem;
txtTime.Text = ManeuveringBoard.GetTimeString(posData.Time);
txtTime.Focus();
txtTime.SelectAll();
Text = grpObservation.Text = (posData is Waypoint ? "Waypoint" : "Observation") + " Data";
PositionalDataShape previousPosition = null;
UnitShape observer = posData is Observation ? ((Observation)posData).Observer : null;
for (int index = posData.Parent.Children.IndexOf(posData) - 1; index >= 0; index--)
{
previousPosition = posData.Parent.Children[index] as PositionalDataShape;
if (previousPosition != null && previousPosition.GetType() == posData.GetType() &&
(!(previousPosition is Observation) || ((Observation)previousPosition).Observer == observer))
{
break;
}
else
{
previousPosition = null;
}
}
if (previousPosition != null)
{
previousTime = previousPosition.Time;
}
if (posData is BearingObservation)
{
double bearing = ((BearingObservation)posData).Bearing;
grpPrevious.Enabled = false;
grpObserved.Enabled = false;
txtObserverDistance.Enabled = false;
txtObserverBearing.Text = (bearing * MathConst.RadiansToDegrees).ToString("0.##");
txtObserverBearing.Tag = bearing;
txtObservedBearing.WasChanged = false; // ignore programmatic change
}
else
{
this.posDataPoint = posData.Position;
FillRelativeTo((UnitShape)posData.Parent, txtObservedBearing, txtObservedDistance, out observedPoint);
if (posData is PointObservation)
{
FillRelativeTo(observer, txtObserverBearing, txtObserverDistance, out observerPoint);
}
else
{
grpObserver.Enabled = false;
grpObserved.Text = "Relative to Unit";
}
if (previousPosition == null)
{
grpPrevious.Enabled = false;
}
else
{
FillRelativeTo(previousPosition, txtPreviousBearing, txtPreviousDistance, out previousPoint);
}
waypoint = posData is Waypoint;
if (waypoint)
{
waypointTimes = posData.Parent.Children.OfType <Waypoint>().Where(w => w != posData).Select(w => w.Time).ToList();
}
}
}
bool UpdateSolution()
{
double?speed = null, time = null, aob = null, radius = null;
if (!string.IsNullOrEmpty(txtSpeed.Text.Trim()))
{
double value;
if (!TryParseSpeed(txtSpeed.Text, unitSystem, out value))
{
ShowInvalidSpeed(txtSpeed.Text);
goto invalidData;
}
speed = value;
}
if (!string.IsNullOrEmpty(txtTime.Text.Trim()))
{
TimeSpan timeSpan;
bool relative;
if (!TryParseTime(txtTime.Text, out timeSpan, out relative))
{
ShowInvalidTime(txtTime.Text, false, false);
goto invalidData;
}
time = timeSpan.TotalSeconds;
}
if (!string.IsNullOrEmpty(txtAoB.Text.Trim()))
{
double value;
if (!TryParseAngle(txtAoB.Text.Trim(), out value))
{
ShowInvalidAngle(txtAoB.Text);
goto invalidData;
}
aob = value;
}
if (!string.IsNullOrEmpty(txtRadius.Text.Trim()))
{
double value;
if (!TryParseLength(txtRadius.Text, unitSystem, out value))
{
ShowInvalidLength(txtRadius.Text);
goto invalidData;
}
if (value != 0)
{
radius = value;
}
}
if (speed.HasValue && time.HasValue)
{
lblSolution.Text = "Remove speed or time.";
return(false);
}
if (aob.HasValue && !radius.HasValue)
{
lblSolution.Text = "Using AoB requires a radius.";
return(false);
}
if (radius.HasValue && !aob.HasValue)
{
lblSolution.Text = "Using a radius requires AoB.";
return(false);
}
Point2 targetPt;
Vector2 targetVel;
double targetCourse;
if (target != null)
{
targetPt = target.Position;
targetVel = target.GetEffectiveVelocity();
targetCourse = target.Direction;
}
else
{
double bearing, range;
if (string.IsNullOrEmpty(txtBearing.Text))
{
lblSolution.Text = "Enter a target bearing.";
return(false);
}
else if (!TryParseAngle(txtBearing.Text, out bearing))
{
ShowInvalidAngle(txtBearing.Text);
goto invalidData;
}
if (string.IsNullOrEmpty(txtRange.Text))
{
lblSolution.Text = "Enter a target range.";
return(false);
}
else if (!TryParseLength(txtRange.Text, unitSystem, out range))
{
ShowInvalidLength(txtRange.Text);
goto invalidData;
}
targetPt = new Vector2(0, range).Rotate(-bearing).ToPoint();
double targetSpeed;
if (string.IsNullOrEmpty(txtTargetSpeed.Text))
{
lblSolution.Text = "Enter a target speed.";
return(false);
}
else if (!TryParseSpeed(txtTargetSpeed.Text, unitSystem, out targetSpeed))
{
ShowInvalidSpeed(txtTargetSpeed.Text);
goto invalidData;
}
if (targetSpeed == 0)
{
targetCourse = 0;
}
else if (string.IsNullOrEmpty(txtCourse.Text))
{
lblSolution.Text = "Enter a target course.";
return(false);
}
else if (!TryParseAngle(txtCourse.Text, out targetCourse))
{
ShowInvalidAngle(txtCourse.Text);
goto invalidData;
}
targetVel = new Vector2(0, targetSpeed).Rotate(-targetCourse);
}
// if AoB was specified, then we're actually trying to intercept a single point on the radius circle, so make that are target point
// and use the standard point intercept algorithm
if (aob.HasValue)
{
targetPt += new Vector2(0, radius.Value).Rotate(-(targetCourse + aob.Value));
}
// if we've already satisfied the intercept criteria...
Vector2 o = unit == null ? new Vector2(targetPt) : targetPt - unit.Position;
if (o.LengthSqr <= (radius.HasValue && !aob.HasValue ? radius.Value * radius.Value : 0))
{
lblSolution.Text = "You are already there.";
return(false);
}
// if the target is not moving, any speed will work, so we'll just arbitrarily head there at 10 units of speed
if (targetVel.LengthSqr == 0)
{
Solution = o.GetNormal(MB.ConvertFromUnit(10, MB.GetAppropriateSpeedUnit(unitSystem)));
InterceptPoint = targetPt;
lblSolution.Text = ManeuveringBoard.GetAngleString(MB.SwapBearing(o.Angle)) + " (target stationary)";
return(true);
}
// if we have a single target point (i.e. the target itself, or one point on the radius circle), the intercept formula basically
// consists in solving a quadratic formula. if we're at P and the target is at T with velocity V, then we know that the interception
// point is at T+V*t, where t is time. if we take the vector from P to the intersection point (T+V*t-P), then the distance is
// |T+V*t-P|. dividing by the speed s gives us the time: t = |(T+V*t-P)|/s. so s*t = |T+V*t-P|. squaring both sides, replacing T-P
// with the helper O (i.e. translating P to the origin), and expanding the vector, we get (s*t)^2 = (Ox+Vx*t)^2 + (Oy+Vy*t)^2
if (!time.HasValue) // if the user didn't specify the time of intercept... (if they did, the problem's solved already)
{
if (!speed.HasValue)
{
// if the user specified no information, there are an infinite number of solutions. we'll choose the one that requires
// approximately the lowest intercept speed. if we solve the quadratic equation for speed instead of time, we get
// s = sqrt((Ox + Vx*t)^2 + (Oy + Vy*t)^2) / t. we need to minimize this equation where s >= 0 and t >= 0. there's probably
// some way to do this analytically, but it seems complicated, so we'll just minimize it numerically. we'll represent the time
// TODO: check out the inverse of this function. it may be more sloped and easier to optimize?
// TODO: consider a better method of rescaling (to get all the numbers about the same magnitude)
Func <double, double> speedFunc = t =>
{
if (t <= 0)
{
return(double.NaN);
}
t *= 3600; // we'll scale the time from seconds to hours because the minimizer is a bit more stable when params are around 1.0
double x = o.X + targetVel.X * t, y = o.Y + targetVel.Y * t;
return(Math.Sqrt(x * x + y * y) / t);
};
Func <double, double> derivative = t =>
{
if (t <= 0)
{
return(double.NaN);
}
t *= 3600;
double x = o.X + targetVel.X * t, y = o.Y + targetVel.Y * t;
return(-(o.X * x + o.Y * y) / (t * t * Math.Sqrt(x * x + y * y)));
};
ConstrainedMinimizer minimizer = new ConstrainedMinimizer(new DifferentiableMDFunction(speedFunc, derivative));
// the function tends to be very flat near the minimum, so it's hard to find it exactly. increase the gradient tolerance to
// prevent it from failing as often. we're going to be rounding the answer anyway, so it needn't be exact
minimizer.GradientTolerance = 1e-6;
// constrain the solution to be non-negative
minimizer.AddConstraint(new DifferentiableMDFunction(t => - speedFunc(t), t => - derivative(t)));
minimizer.SetBounds(0, 0, double.MaxValue); // constrain t to be non-negative
try
{
double[] point = new double[] { 1 };
double minSpeed = minimizer.Minimize(point);
// now we want to round the speed up to the next unit, to make it look nicer. we also want to increase the speed by a small
// amount because the time seems to increase without bound as the speed nears the minimum. for instance, a difference of
// 0.01 kn near the minimum might increase the time by 5 hours. speeds near the minimum also render the math below very
// inaccurate due to mismatching precision. so we'll add about a knot to the speed as well as round it up
SpeedUnit speedUnit = MB.GetAppropriateSpeedUnit(unitSystem);
speed = MB.ConvertFromUnit(Math.Ceiling(MB.ConvertToUnit(minSpeed + 0.5, speedUnit)), speedUnit); // 0.5 m/s ~= 1 kn
}
catch (MinimumNotFoundException)
{
lblSolution.Text = "Try setting parameters.";
return(false);
}
}
// if know the intercept speed, we take the above equation and factor out time. we end up with:
// t^2(Vx^2 + Vy^2 - s^2) + t*(2Ox*Vx + 2Oy*Vy) + Ox^2 + Oy^2 = 0. if we take A=(Vx^2 + Vy^2 - s^2), B=2(Ox*Vx + Oy*Vy), and
// C=Ox^2 + Oy^2, then we have the quadratic A*t^2 + B*t + C = 0 which we can solve with the quadratic formula.
// t = (-B +/- sqrt(B^2 - 4AC)) / 2A (and we can remove a factor of 2). if the discriminant is negative, there is no solution.
// otherwise, we take whichever solution gives the smallest non-negative time
double A = targetVel.X * targetVel.X + targetVel.Y * targetVel.Y - speed.Value * speed.Value, B = o.X * targetVel.X + o.Y * targetVel.Y, C = o.X * o.X + o.Y * o.Y;
// if A = 0, then the speeds are identical, and we get division by zero solving the quadratic. but if A = 0 then we just have
// B*t + C = 0 or t = -C/B. we know B can't be zero because we checked the relevant cases above
if (A == 0)
{
double t = -C / (2 * B); // we have to multiply B by 2 because we removed a factor of two above
if (t >= 0)
{
time = t;
}
else
{
goto noSolution;
}
}
else
{
double discriminant = B * B - A * C;
if (discriminant < 0)
{
goto noSolution;
}
double root = Math.Sqrt(discriminant), time1 = (-B + root) / A, time2 = (-B - root) / A;
if (time1 >= 0 && time1 <= time2)
{
time = time1;
}
else if (time2 >= 0)
{
time = time2;
}
else
{
goto noSolution;
}
}
}
// now that we know the time of intercept, we can calculate the intercept point and get the velocity we'd need to get there.
// the intercept point is T+V*t. the intercept vector is T+V*t-P = O+V*t. this vector has a length equal to the distance, but we
// want a length equal to the speed, so divide by time to get speed (e.g. 10 km in 2 hour = 5km/hour). but (O+V*t)/t = O/t+V
Solution = o / time.Value + targetVel;
InterceptPoint = targetPt + targetVel * time.Value;
haveSolution = true;
lblSolution.Text = ManeuveringBoard.GetAngleString(MB.SwapBearing(Solution.Angle)) + " at " +
MB.GetSpeedString(Solution.Length, unitSystem) + " for " + GetTimeString(time.Value);
return(true);
noSolution:
lblSolution.Text = "No intercept is possible.";
return(false);
invalidData:
lblSolution.Text = "Invalid data.";
return(false);
}
bool UpdateSolution()
{
double?speed = null, time = null, aob = null, radius = null;
if (!string.IsNullOrEmpty(txtSpeedTDC.Text.Trim()))
{
double value;
if (!TryParseSpeed(txtSpeedTDC.Text, unitSystem, out value))
{
ShowInvalidSpeed(txtSpeedTDC.Text);
goto invalidData;
}
speed = value;
}
Point2 targetPt;
Vector2 targetVel;
double targetCourse;
double ownCourse;
double targetAOB;
{
double bearing, range;
if (string.IsNullOrEmpty(txtBearingTDC.Text))
{
lblSolutionTDC.Text = "Enter a target true bearing.";
return(false);
}
else if (!TryParseAngle(txtBearingTDC.Text, out bearing))
{
ShowInvalidAngle(txtBearingTDC.Text);
goto invalidData;
}
if (string.IsNullOrEmpty(txtRangeTDC.Text))
{
lblSolutionTDC.Text = "Enter a target range.";
return(false);
}
else if (!TryParseLength(txtRangeTDC.Text, unitSystem, out range))
{
ShowInvalidLength(txtRangeTDC.Text);
goto invalidData;
}
targetPt = new Vector2(0, range).Rotate(-bearing).ToPoint();
double targetSpeed;
if (string.IsNullOrEmpty(txtTargetSpeedTDC.Text))
{
lblSolutionTDC.Text = "Enter a target speed.";
return(false);
}
else if (!TryParseSpeed(txtTargetSpeedTDC.Text, unitSystem, out targetSpeed))
{
ShowInvalidSpeed(txtTargetSpeedTDC.Text);
goto invalidData;
}
if (string.IsNullOrEmpty(txtAoBTDC.Text.Trim()))
{
lblSolutionTDC.Text = "Enter target AOB.";
return(false);
}
else if (!TryParseAngle(txtAoBTDC.Text.Trim(), out targetAOB))
{
ShowInvalidAngle(txtAoBTDC.Text);
goto invalidData;
}
if (string.IsNullOrEmpty(txtCourseTDC.Text))
{
lblSolutionTDC.Text = "Enter ownship course.";
return(false);
}
else if (!TryParseAngle(txtCourseTDC.Text, out ownCourse))
{
ShowInvalidAngle(txtCourseTDC.Text);
goto invalidData;
}
if (targetSpeed == 0)
{
targetCourse = 0;
}
else
{
targetCourse = ownCourse + (Math.PI - targetAOB);
}
targetVel = new Vector2(0, targetSpeed).Rotate(-targetCourse);
}
// if we've already satisfied the intercept criteria...
Vector2 o = unit == null ? new Vector2(targetPt) : targetPt - unit.Position;
if (o.LengthSqr <= (radius.HasValue && !aob.HasValue ? radius.Value * radius.Value : 0))
{
lblSolutionTDC.Text = "You are already at the target.";
return(false);
}
// if the target is not moving, any speed will work, so we'll just arbitrarily head there at 10 units of speed
if (targetVel.LengthSqr == 0)
{
Solution = o.GetNormal(MB.ConvertFromUnit(10, MB.GetAppropriateSpeedUnit(unitSystem)));
InterceptPoint = targetPt;
lblSolutionTDC.Text = ManeuveringBoard.GetAngleString(MB.SwapBearing(o.Angle)) + " (target stationary)";
return(true);
}
// if we have a single target point (i.e. the target itself, or one point on the radius circle), the intercept formula basically
// consists in solving a quadratic formula. if we're at P and the target is at T with velocity V, then we know that the interception
// point is at T+V*t, where t is time. if we take the vector from P to the intersection point (T+V*t-P), then the distance is
// |T+V*t-P|. dividing by the speed s gives us the time: t = |(T+V*t-P)|/s. so s*t = |T+V*t-P|. squaring both sides, replacing T-P
// with the helper O (i.e. translating P to the origin), and expanding the vector, we get (s*t)^2 = (Ox+Vx*t)^2 + (Oy+Vy*t)^2
if (!time.HasValue) // if the user didn't specify the time of intercept... (if they did, the problem's solved already)
{
if (!speed.HasValue)
{
lblSolutionTDC.Text = "Enter torpedo speed.";
return(false);
}
// if know the intercept speed, we take the above equation and factor out time. we end up with:
// t^2(Vx^2 + Vy^2 - s^2) + t*(2Ox*Vx + 2Oy*Vy) + Ox^2 + Oy^2 = 0. if we take A=(Vx^2 + Vy^2 - s^2), B=2(Ox*Vx + Oy*Vy), and
// C=Ox^2 + Oy^2, then we have the quadratic A*t^2 + B*t + C = 0 which we can solve with the quadratic formula.
// t = (-B +/- sqrt(B^2 - 4AC)) / 2A (and we can remove a factor of 2). if the discriminant is negative, there is no solution.
// otherwise, we take whichever solution gives the smallest non-negative time
double A = targetVel.X * targetVel.X + targetVel.Y * targetVel.Y - speed.Value * speed.Value, B = o.X * targetVel.X + o.Y * targetVel.Y, C = o.X * o.X + o.Y * o.Y;
// if A = 0, then the speeds are identical, and we get division by zero solving the quadratic. but if A = 0 then we just have
// B*t + C = 0 or t = -C/B. we know B can't be zero because we checked the relevant cases above
if (A == 0)
{
double t = -C / (2 * B); // we have to multiply B by 2 because we removed a factor of two above
if (t >= 0)
{
time = t;
}
else
{
goto noSolution;
}
}
else
{
double discriminant = B * B - A * C;
if (discriminant < 0)
{
goto noSolution;
}
double root = Math.Sqrt(discriminant), time1 = (-B + root) / A, time2 = (-B - root) / A;
if (time1 >= 0 && time1 <= time2)
{
time = time1;
}
else if (time2 >= 0)
{
time = time2;
}
else
{
goto noSolution;
}
}
}
// now that we know the time of intercept, we can calculate the intercept point and get the velocity we'd need to get there.
// the intercept point is T+V*t. the intercept vector is T+V*t-P = O+V*t. this vector has a length equal to the distance, but we
// want a length equal to the speed, so divide by time to get speed (e.g. 10 km in 2 hour = 5km/hour). but (O+V*t)/t = O/t+V
Solution = o / time.Value + targetVel;
InterceptPoint = targetPt + targetVel * time.Value;
haveSolution = true;
lblSolutionTDC.Text = "Aim at " + ManeuveringBoard.GetAngleString(MB.SwapBearing(Solution.Angle)) + ", torpedo running time " + GetTimeString(time.Value);
return(true);
noSolution:
lblSolutionTDC.Text = "No intercept is possible.";
return(false);
invalidData:
lblSolutionTDC.Text = "Invalid data.";
return(false);
}
public override string GetStatusText(Shape shape)
{
UnitShape unit = (UnitShape)shape;
return(ManeuveringBoard.GetAngleString(unit.Direction) + ", " + unit.Board.GetSpeedString(unit.Speed));
}