internal static void ToHVPoints(this RectPoint rectPoint, out HorizontalPoint horizontalPoint, out VerticalPoint verticalPoint)
{
horizontalPoint = HorizontalPoint.Left;
verticalPoint = VerticalPoint.Top;
switch (rectPoint)
{
case RectPoint.TopLeft:
horizontalPoint = HorizontalPoint.Left;
verticalPoint = VerticalPoint.Top;
break;
case RectPoint.TopRight:
horizontalPoint = HorizontalPoint.Right;
verticalPoint = VerticalPoint.Top;
break;
case RectPoint.BottomRight:
horizontalPoint = HorizontalPoint.Right;
verticalPoint = VerticalPoint.Bottom;
break;
case RectPoint.BottomLeft:
horizontalPoint = HorizontalPoint.Left;
verticalPoint = VerticalPoint.Bottom;
break;
case RectPoint.Center:
break;
default:
throw new ArgumentOutOfRangeException(nameof(rectPoint));
}
}
internal static RectPoint GetRectPoint(HorizontalPoint horizontal, VerticalPoint vertical)
{
if (vertical == VerticalPoint.Top)
{
switch (horizontal)
{
case HorizontalPoint.Right:
return(RectPoint.TopRight);
case HorizontalPoint.Left:
return(RectPoint.TopLeft);
}
}
if (vertical == VerticalPoint.Bottom)
{
switch (horizontal)
{
case HorizontalPoint.Right:
return(RectPoint.BottomRight);
case HorizontalPoint.Left:
return(RectPoint.BottomLeft);
}
}
throw new Exception("Invalid combination");
}
private async void Lidar_PropertyChanged(object sender, System.ComponentModel.PropertyChangedEventArgs e)
{
switch (e.PropertyName)
{
case nameof(Lidar.RunCollector) when Lidar.RunCollector == false:
CalculateHorizontalPoints = false;
break;
case nameof(Lidar.RaiseNotificationForSelective) when Lidar.RaiseNotificationForSelective == false:
AutoCalculateDirections = false;
AutoCalculateLargestDistance = false;
break;
}
if (e.PropertyName != nameof(Lidar.LastUpdate))
{
return;
}
if (AutoCalculateDirections)
{
Task.Run(() =>
{
float fwd = Lidar.Fwd;
float left = Lidar.Left;
float right = Lidar.Right;
});
}
if (AutoCalculateLargestDistance)
{
HorizontalPoint point = Lidar.LargestDistance;
}
if (CalculateHorizontalPoints)
{
float fromAngle = CenterForAnglesInRange - BeamOpeningForAnglesInRange / 2;
float toAngle = CenterForAnglesInRange + BeamOpeningForAnglesInRange / 2;
if (fromAngle < 0)
{
fromAngle += 360;
}
if (toAngle > 360)
{
fromAngle -= 360;
}
SelectedAngleRange = $"From {fromAngle} to {toAngle}";
HorizontalPointsInRange = await Task.Run(() => Lidar.GetHorizontalPointsInRange(fromAngle, toAngle, Lidar.Config.DefaultVerticalAngle));
}
}
public HorizontalPoint Horizontal(float rotationYAngle)
{
HorizontalPoint m_horizontalPoint = HorizontalPoint.None;
if (rotationYAngle >= 337.5f || rotationYAngle < 22.5f)
{
m_horizontalPoint = HorizontalPoint.North;
}
else if (rotationYAngle >= 22.5f && rotationYAngle < 67.5f)
{
m_horizontalPoint = HorizontalPoint.NorthEast;
}
else if (rotationYAngle >= 67.5f && rotationYAngle < 112.5f)
{
m_horizontalPoint = HorizontalPoint.East;
}
else if (rotationYAngle >= 112.5f && rotationYAngle < 157.5f)
{
m_horizontalPoint = HorizontalPoint.SouthEast;
}
else if (rotationYAngle >= 157.5f && rotationYAngle <= 202.5f)
{
m_horizontalPoint = HorizontalPoint.South;
}
else if (rotationYAngle >= 202.5f && rotationYAngle < 247.5f)
{
m_horizontalPoint = HorizontalPoint.SouthWest;
}
else if (rotationYAngle >= 247.5f && rotationYAngle < 292.5f)
{
m_horizontalPoint = HorizontalPoint.West;
}
else if (rotationYAngle >= 292.5f && rotationYAngle < 337.5f)
{
m_horizontalPoint = HorizontalPoint.NorthWest;
}
return(m_horizontalPoint);
}
private void SightField(BlockType type)
{
m_yAngel = Player.transform.eulerAngles.y;
m_xAngel = transform.eulerAngles.x;
m_horizontalPoint = Horizontal(m_yAngel);
m_verticalPoint = Vertical(m_xAngel);
switch (type)
{
case BlockType.Ramp:
break;
case BlockType.Floor:
break;
case BlockType.Wall:
break;
}
}
internal static HorizontalPoint Opposite(this HorizontalPoint point)
{
return(point == HorizontalPoint.Left ? HorizontalPoint.Right : HorizontalPoint.Left);
}
