/// <summary>
/// Compare this trajectory data set to another and find those points that are within
/// the specified deltaDistance. DeltaDistance denotes the seperation in EACH
/// co-ordinate (i.e. they are within in a BOX of size delta distance) to reduce CPU
/// cost of calculating exact distance.)
///
/// DeltaTime specifies the time within which multiple intercept points should be regarded
/// as duplicates (in which case the intercept with the closest approach is used)
///
/// List of intercepts is provided in time order (earliest first)
/// </summary>
/// <param name="tdata"></param>
/// <param name="deltaDistance"></param>
/// <param name="deltaTime"></param>
/// <returns></returns>
public List <Intercept> GetIntercepts(TrajectoryData tdata, float deltaDistance, float deltaTime)
{
List <Intercept> intercepts = new List <Intercept>();
tpoints.Sort(new TpointCompare());
tdata.Sort();
// Concept: Lists are ordered so can walk each
int i = 0;
int j = 0;
while ((i < tpoints.Count) && (j < tdata.Count()))
{
Tpoint tp_i = (Tpoint)tpoints[i];
Tpoint tp_j = (Tpoint)tdata.GetByIndex(j);
// Debug.Log(string.Format("i={0} j={1} r_i={2} r_j={3}", i, j, tp_i.r, tp_j.r));
if (Mathf.Abs(tp_i.r.x - tp_j.r.x) < deltaDistance)
{
if (Mathf.Abs(tp_i.r.y - tp_j.r.y) < deltaDistance)
{
if (Mathf.Abs(tp_i.r.z - tp_j.r.z) < deltaDistance)
{
Intercept intercept = new Intercept();
intercept.tp1 = tp_i;
intercept.tp2 = tp_j;
intercept.dR = Vector3.Distance(tp_i.r, tp_j.r);
intercept.dV = Vector3.Distance(tp_i.v, tp_j.v);
intercept.dT = tp_i.t - tp_j.t;
intercept.tp1_index = i;
intercept.tp2_index = j;
intercepts.Add(intercept);
i++;
j++;
continue;
}
}
}
if (comparer.Compare(tp_i, tp_j) > 0)
{
j++;
}
else
{
i++;
}
}
List <Intercept> uniqueIntercepts = RemoveDuplicates(intercepts, deltaDistance, deltaTime);
// sort
uniqueIntercepts.Sort(interceptComparer);
return(uniqueIntercepts);
}
public void AddPoint(Vector3 r, Vector3 v, float t)
{
Tpoint tpoint = new Tpoint();
tpoint.r = r;
tpoint.v = v;
tpoint.t = t;
// Slow launching rocket can end up at same point for two frames - avoid adding a duplicate
// Performance: Is there a way to not add an if inside a highly used method?
try {
tpoints.Add(tpoint, tpoint);
} catch (System.ArgumentException) {
// just skip this point if it already exists
}
}
bool checkPoint(Vector3 point, Tpoint parentPoint)
{
//check if the point being checked is the endpoint
if(point == endPoint)
{
//break out of function, return that the endpoint is found via bool
return true;
}
//check if the point being checked is already occupied
if(gridScript.getGridTile((int)point.x,(int)point.y) != 0)
{
//break out of function
return false;
}
for(int i = 0; i < usedPoints.Count; i++)
{
if(point == usedPoints[i])
{
//break out of function
return false;
}
}
for(int j = 0; j < pendingPoints.Count; j++)
{
if(point == pendingPoints[j].position)
{
//break out of function
return false;
}
}
Tpoint newTpoint = new Tpoint();
newTpoint.position = point;
newTpoint.parent = parentPoint;
newTpoint.G = parentPoint.G + 1;
newTpoint.H = Mathf.Abs((int)(newTpoint.position.x - endPoint.x)) + Mathf.Abs((int)(newTpoint.position.y - endPoint.y));
newTpoint.F = newTpoint.G + newTpoint.H;
pendingPoints.Add (newTpoint);
return false;
}
public int Compare(System.Object o1, System.Object o2)
{
Tpoint t1 = (Tpoint)o1;
Tpoint t2 = (Tpoint)o2;
// order by x, y then z
if (t1.r.x < t2.r.x)
{
return(-1);
}
else if (t1.r.x > t2.r.x)
{
return(1);
}
else
{
if (t1.r.y < t2.r.y)
{
return(-1);
}
else if (t1.r.y > t2.r.y)
{
return(1);
}
else
{
if (t1.r.z < t2.r.z)
{
return(-1);
}
else if (t1.r.z > t2.r.z)
{
return(1);
}
else
{
return(0);
}
}
}
}
bool checkSurrounding(Tpoint point)
{
Vector3 pointToCheck;
pointToCheck = point.position;
pointToCheck.y += 1;
if(checkPoint(pointToCheck, point))
{
return true;
}
pointToCheck = point.position;
pointToCheck.y -= 1;
if(checkPoint(pointToCheck, point))
{
return true;
}
pointToCheck = point.position;
pointToCheck.x -= 1;
if(checkPoint(pointToCheck, point))
{
return true;
}
pointToCheck = point.position;
pointToCheck.x += 1;
if(checkPoint(pointToCheck, point))
{
return true;
}
return false;
}
