public override void OnScannedRobot(ScannedRobotEvent e)
{
double absoluteBearing = HeadingRadians + e.BearingRadians;
PointF myLocation = new PointF((float)X, (float)Y);
PointF predictedLocation = projectMotion(myLocation, absoluteBearing, e.Distance);
double predictedHeading;
double enemyTurnRate = -Utils.NormalRelativeAngle(expectedHeading - (predictedHeading = expectedHeading = e.HeadingRadians));
double bulletPower = Math.Min(e.Distance < 250 ? 500 / e.Distance : 200 / e.Distance, 3);
int time = 0;
while ((time++) * (20 - (3 * bulletPower)) < myLocation.Distance(predictedLocation) - 18)
{
predictedHeading += (enemyTurnRate / 3);
predictedLocation = projectMotion(predictedLocation, predictedHeading, e.Velocity);
if (!new RectangleF(18, 18, 764, 564).Contains(predictedLocation))
{
break;
}
}
double maxValue = Double.MinValue;
double angle = 0;
do
{
double value = Math.Abs(Math.Cos(Utils.NormalRelativeAngle(absoluteBearing - angle))) * e.Distance / 150;
PointF testedLocation = projectMotion(myLocation, angle, 8);
value -= testedLocation.Distance(predictedLocation);
value -= testedLocation.Distance(new PointF(400, 300)) / 3;
if (!new RectangleF(30, 30, 740, 540).Contains(testedLocation))
{
value -= 10000;
}
if (value > maxValue)
{
maxValue = value;
double turnAngle = angle - HeadingRadians;
SetAhead(Math.Cos(turnAngle) > 0 ? 100 : -100);
SetTurnRightRadians(Math.Tan(turnAngle));
}
} while ((angle += 0.01) < Math.PI * 2);
MaxVelocity = (Math.Abs(TurnRemaining) < 30 ? 8 : 8 - Math.Abs(TurnRemaining / 30));
double gunTurn = Utils.NormalRelativeAngle(Math.Atan2(predictedLocation.X - myLocation.X, predictedLocation.Y - myLocation.Y) - GunHeadingRadians);
SetTurnGunRightRadians(gunTurn);
if ((Math.Abs(gunTurn) < Math.PI / 9) && (GunHeat == 0.0))
{
SetFire(bulletPower);
}
SetTurnRadarRightRadians(2 * Utils.NormalRelativeAngle(absoluteBearing - RadarHeadingRadians));
}
private void Flocking(IEnumerable <BoidBehaviour> boids)
{
if (boids.Count() == 1)
{
Direction.X += 1;
Direction.Y += 1;
}
foreach (BoidBehaviour boid in boids)
{
float distance = Position.Distance(boid.Position);
if (boid != this && !boid.Predator)
{
if (distance < Space)
{
// Create space.
Direction.X += (Position.X - boid.Position.X) * 0.01f;
Direction.Y += (Position.Y - boid.Position.Y) * 0.01f;
}
else if (distance < Sight)
{
// Flock together.
Direction.X += (boid.Position.X - Position.X) * 0.001f;
Direction.Y += (boid.Position.Y - Position.Y) * 0.001f;
}
if (distance < Sight)
{
// Align movement.
Direction.X += boid.Direction.X * 0.001f;
Direction.Y += boid.Direction.Y * 0.001f;
}
}
if (boid.Predator && distance < Sight)
{
// Avoid hunters.
Direction.X += Position.X - boid.Position.X * 0.2f;
Direction.Y += Position.Y - boid.Position.Y * 0.2f;
}
if (this.Avoid.HasValue && this.Position.Distance(this.Avoid.Value) < Sight)
{
// Avoid hunters.
Direction.X += Position.X - this.Avoid.Value.X * 1.0f;
Direction.Y += Position.Y - this.Avoid.Value.Y * 1.0f;
}
}
}
public static double FindDistanceAlongSpine(PointF[] spine, PointF point)
{
if (spine == null || spine.Length <= 1)
{
return(-1);
}
double minDist = double.MaxValue;
PointF bestPoint = PointF.Empty;
PointF[] closestPoints = new PointF[2];
double totalDist = 0;
for (int i = 1; i < spine.Length; i++)
{
PointF previousPoint = spine[i - 1];
PointF currentPoint = spine[i];
PointF closestPoint;
double currentMinDist = MathExtension.MinDistanceFromLineToPoint(previousPoint, currentPoint, point, out closestPoint);
if (currentMinDist < minDist)
{
minDist = currentMinDist;
bestPoint = closestPoint;
closestPoints[0] = previousPoint;
closestPoints[1] = currentPoint;
}
}
for (int i = 1; i < spine.Length; i++)
{
PointF previousPoint = spine[i - 1];
PointF currentPoint = spine[i];
if (previousPoint == closestPoints[0])
{
//We're on the line
totalDist += previousPoint.Distance(bestPoint);
break;
}
else
{
//Not on this line
totalDist += previousPoint.Distance(currentPoint);
}
}
return(totalDist);
}
public static PointF GetDistancePointFromBase(PointF[] spine, double distance, PointF offset = new PointF())
{
if (spine == null || spine.Length <= 1)
{
return(PointF.Empty);
}
//double targetDistance = 0;
if (!offset.IsEmpty)
{
}
double distanceCounter = 0;
for (int i = 1; i < spine.Length; i++)
{
PointF previousPoint = spine[i - 1];
PointF currentPoint = spine[i];
distanceCounter += previousPoint.Distance(currentPoint);
if (distanceCounter > distance)
{
//The point is somewhere along this line
Vector dir = new Vector(currentPoint.X - previousPoint.X, currentPoint.Y - previousPoint.Y);
dir.Normalize();
dir *= distance;
return(new PointF((float)(previousPoint.X + dir.X), (float)(previousPoint.Y + dir.Y)));
}
}
return(PointF.Empty);
}
public static PointF Mid(this PointF p, PointF other)
{
var distance = p.Distance(other);
var direction = (other.Sub(p)).Normalize();
return(p.Add(direction.Scale(distance / 2)));
}
public void DistanceTest()
{
var p = new PointF(1, 1);
var c = new PointF(5, 4);
var distance = p.Distance(c);
Assert.AreEqual(distance, 5);
}
public void DistanceTest(double x1, double y1, double x2, double y2)
{
Assert.AreEqual(x2.Hypot2(y2), MathTool.Distance(x1, y1, x2, y2), 0.000000001d);
var p1 = new PointF((float)x1, (float)y1);
var p2 = new PointF((float)x2, (float)y2);
Assert.AreEqual(x2.Hypot2(y2), p1.Distance(p2), 0.000000001d);
}
public double GetDistance()
{
GenericPointViewModel genericPoint1 = CanvasChildren[0];
GenericPointViewModel genericPoint2 = CanvasChildren[1];
PointF relativePoint1 = new PointF((float)genericPoint1.XRatio * Image.Width, (float)genericPoint1.YRatio * Image.Height);
PointF relativePoint2 = new PointF((float)genericPoint2.XRatio * Image.Width, (float)genericPoint2.YRatio * Image.Height);
double dist = relativePoint1.Distance(relativePoint2);
return(dist);
}
public double GetTrackLength(PointF[] track)
{
double dist = 0;
int length = track.Length;
for (int i = 1; i < length; i++)
{
PointF p1 = track[i - 1];
PointF p2 = track[i];
dist += p1.Distance(p2);
}
return(dist);
}
private float[] GetEuclideanDistance(IRadialGradient gradient, PointF center, RectangleF rect)
{
var points = gradient.Stretch.IsCorner() ?
GetCornerPoints(rect) :
GetSidePoints(center, rect);
var distances = new float[points.Length];
for (var i = 0; i < distances.Length; i++)
{
distances[i] = center.Distance(points[i]);
}
return(distances);
}
public static PointF NearestPointFFromList(PointF srcPointF, List <PointF> listOfPointFs)
{
KeyValuePair <double, int> smallestDistance = new KeyValuePair <double, int>();
for (int i = 0; i < listOfPointFs.Count; i++)
{
double distance = srcPointF.Distance(listOfPointFs[i]);
if (i == 0)
{
smallestDistance = new KeyValuePair <double, int>(distance, i);
}
else
{
if (distance < smallestDistance.Key)
{
smallestDistance = new KeyValuePair <double, int>(distance, i);
}
}
}
return(listOfPointFs[smallestDistance.Value]);
}
public static bool GetPerpendicularLineDistanceFromBase(PointF[] spine, double distance, out PointF intersection, out Vector direction, PointF offset = new PointF())
{
intersection = PointF.Empty;
direction = new Vector();
if (spine == null || spine.Length <= 1)
{
return(false);
}
double distanceCounter = 0;
for (int i = 1; i < spine.Length; i++)
{
PointF previousPoint = spine[i - 1];
PointF currentPoint = spine[i];
double currentSegmentDistance = previousPoint.Distance(currentPoint);
distanceCounter += currentSegmentDistance;
if (distanceCounter > distance)
{
//The point is somewhere along this line
distanceCounter -= currentSegmentDistance;
double delta = distance - distanceCounter;
Vector dir = new Vector(currentPoint.X - previousPoint.X, currentPoint.Y - previousPoint.Y);
dir.Normalize();
dir *= delta;
intersection = new PointF((float)(previousPoint.X + dir.X), (float)(previousPoint.Y + dir.Y));
//Create perpendicular Vector
direction = new Vector(dir.Y, -dir.X);
return(true);
}
}
return(false);
}
protected override void OnTouchDown(Touch t)
{
if (t == Touch || _another != null)
{
return;
}
if (!Touch.Down)
{
Touch = t;
OnTouchDown(t);
return;
}
_pinching = true;
_another = t;
_startSpan = PointF.Distance(Touch.Current, _another.Current);
_startZoom = Camera.Zoom;
_dragging = false;
}
protected override void OnDrag(Touch t)
{
if (_dragging)
{
var content = _scrollPane.Content();
var c = content.Camera;
c.Scroll.Offset(PointF.Diff(_lastPos, t.Current).InvScale(c.Zoom));
if (c.Scroll.X + Width > content.Width)
{
c.Scroll.X = content.Width - Width;
}
if (c.Scroll.X < 0)
{
c.Scroll.X = 0;
}
if (c.Scroll.Y + Height > content.Height)
{
c.Scroll.Y = content.Height - Height;
}
if (c.Scroll.Y < 0)
{
c.Scroll.Y = 0;
}
_lastPos.Set(t.Current);
}
else
if (PointF.Distance(t.Current, t.Start) > _dragThreshold)
{
_dragging = true;
_lastPos.Set(t.Current);
}
}
protected override void OnDrag(Touch t)
{
Camera.Target = null;
if (_pinching)
{
var curSpan = PointF.Distance(Touch.Current, _another.Current);
Camera.ZoomTo(GameMath.Gate(PixelScene.minZoom, _startZoom * curSpan / _startSpan, PixelScene.maxZoom));
}
else
{
if (!_dragging && PointF.Distance(t.Current, t.Start) > _dragThreshold)
{
_dragging = true;
_lastPos.Set(t.Current);
}
else if (_dragging)
{
Camera.Scroll.Offset(PointF.Diff(_lastPos, t.Current).InvScale(Camera.Zoom));
_lastPos.Set(t.Current);
}
}
}
public void Draw(Graphics g)
{
var BackgroundBrush = CSMABackgroundBrush;
switch (Type)
{
case DomainType.CSMA:
{
BackgroundBrush = CSMABackgroundBrush;
break;
}
case DomainType.IEEE81211:
{
BackgroundBrush = IEEE81211BackgroundBrush;
break;
}
case DomainType.LTE:
{
BackgroundBrush = LTEBackgroundBrush;
break;
}
case DomainType.Wimax:
{
BackgroundBrush = WimaxBackgroundBrush;
break;
}
}
if (Nodes.Count == 0)
{
if (Radius > 0)
{
g.FillEllipse(BackgroundBrush, new Rectangle((int)(X - Radius), (int)(Y - Radius), (int)(Radius * 2), (int)(Radius * 2)));
}
}
else
{
if (DisplayProperties.RenderDomain)
{
var nodeRadius = 0.0d;
foreach (var node in Nodes)
{
var dist = Position.Distance(node.Position);
if (dist > nodeRadius)
{
nodeRadius = dist;
}
}
g.FillEllipse(BackgroundBrush, new Rectangle((int)(X - nodeRadius), (int)(Y - nodeRadius), (int)(nodeRadius * 2), (int)(nodeRadius * 2)));
}
}
if (DisplayProperties.RenderDomainText)
{
var textWidth = (int)g.MeasureString(Text, SystemFonts.DefaultFont).Width;
var textHeight = (int)g.MeasureString(Text, SystemFonts.DefaultFont).Height;
var diameter = textWidth > textHeight ? textWidth : textHeight;
if (diameter < 35)
{
diameter = 35;
}
g.FillEllipse(BackgroundBrush, new Rectangle((int)(X - diameter / 2), (int)(Y - diameter / 2), diameter, diameter));
g.DrawString(Text, SystemFonts.DefaultFont, Brushes.Black, new Point((int)(X - textWidth / 2), (int)(Y - textHeight / 2)));
}
}
public LineSet(int id, LineContainer container, IEnumerable <Dot> dots)
{
ID = id;
this.dots = dots.ToArray();
//if(dots.Last().NextConnectDot)
foreach (var item in this.dots)
{
item.LineSet = this;
item.PointChanged += DotPointChanged;
}
List <Dot> pl = new List <Dot>();
Dot first, prev;
prev = first = this.dots.First();
PointF firstP, prevP = prev.Point;
firstP = first.Point;
float minX, maxX, minY, maxY;
minX = maxX = firstP.X;
minY = maxY = firstP.Y;
//PointF first = dots.First().Point;
//PointF prev = first;
int counter = 0;
int length = this.dots.Length;
dotDistances = new float[length];
dotRectangles = new RectangleF[length];
lines = new Line[length];
Line line;
foreach (var item in this.dots.Skip(1))
{
PointF currentP = item.Point;
//dotRectangles[counter] = currentP.GetRectangleFromTwoPoint(prevP);
dotDistances[counter] = (float)currentP.Distance(prevP);
line = new Line(prev, item, this, container);
lines[counter] = line;
dotRectangles[counter] = line.RectangleF;
prev = item;
prevP = prev.Point;
counter++;
float x = currentP.X, y = currentP.Y;
if (x < minX)
{
minX = x;
}
else if (x > maxX)
{
maxX = x;
}
if (y < minY)
{
minY = y;
}
else if (y > maxY)
{
maxY = y;
}
}
dotDistances[counter] = (float)firstP.Distance(prevP);
line = new Line(prev, first, this, container);
lines[counter] = line;
dotRectangles[counter] = line.RectangleF;
RectangleF = new RectangleF(minX, minY, maxX - minX, maxY - minY);
Color = ColorCollections[ID % ColorCollections.Length];
}
public Bitmap GetImage(int width, int height, Font font, float offsetX, float offsetY, float scale)
{
Bitmap bmp = new Bitmap(width, height);
Graphics g = Graphics.FromImage(bmp);
float minX = float.PositiveInfinity, minY = float.PositiveInfinity, maxX = float.NegativeInfinity, maxY = float.NegativeInfinity;
foreach (Node n in Nodes)
{
minX = Math.Min(minX, n.Location.X);
minY = Math.Min(minY, n.Location.Y);
maxX = Math.Max(maxX, n.Location.X);
maxY = Math.Max(maxY, n.Location.Y);
}
if (!fixCamera)
{
float s = scale;
scale = 1f;
origin = new PointF((minX + maxX) * 30 * scale / 2, (minY + maxY) * 30 * scale / 2);
scale = Math.Min(width / 2 / (maxX * 30 * scale - origin.X), height / 2 / (maxY * 30 * scale - origin.Y)) * 0.9f;
scale *= s;
RefScale = scale;
origin = new PointF((minX + maxX) * 30 * scale / 2, (minY + maxY) * 30 * scale / 2);
}
else
{
scale = RefScale;
}
if (Math.Abs((minX + maxX) * 30 * scale / 2) > 10000f || Math.Abs((minY + maxY) * 30 * scale / 2) > 10000f)
{
Recenter();
minX = float.PositiveInfinity;
minY = float.PositiveInfinity;
maxX = float.NegativeInfinity;
maxY = float.NegativeInfinity;
foreach (Node n in Nodes)
{
minX = Math.Min(minX, n.Location.X);
minY = Math.Min(minY, n.Location.Y);
maxX = Math.Max(maxX, n.Location.X);
maxY = Math.Max(maxY, n.Location.Y);
}
if (!fixCamera)
{
float s = scale;
scale = 1f;
origin = new PointF((minX + maxX) * 30 * scale / 2, (minY + maxY) * 30 * scale / 2);
scale = Math.Min(width / 2 / (maxX * 30 * scale - origin.X), height / 2 / (maxY * 30 * scale - origin.Y)) * 0.9f;
scale *= s;
RefScale = scale;
origin = new PointF((minX + maxX) * 30 * scale / 2, (minY + maxY) * 30 * scale / 2);
}
}
g.TranslateTransform(width / 2 + offsetX - origin.X, height / 2 + offsetY - origin.Y);
bool found = false;
foreach (Node n in Nodes)
{
if (simpleMode && n.Type != Elements.Hydrogen || !simpleMode)
{
if (found || Selected != null && Selected.Locked)
{
g.DrawString(n.Type.ToDString(), font, Brushes.Black, n.Location.X * 30 * scale, n.Location.Y * 30 * scale, new StringFormat()
{
LineAlignment = StringAlignment.Center, Alignment = StringAlignment.Center
});
}
else if (Cursor.Distance(n.Location.Scale(30f * scale).Add(new PointF(width / 2 + offsetX, height / 2 + offsetY)).Subtract(origin)) < 10f)
{
found = true;
Selected = n;
}
}
g.DrawString(n.Type.ToDString(), font, n == Selected ? Brushes.Silver : Brushes.Black, n.Location.X * 30 * scale, n.Location.Y * 30 * scale, new StringFormat()
{
LineAlignment = StringAlignment.Center, Alignment = StringAlignment.Center
});
}
if ((Selected == null || !Selected.Locked) && !found)
{
Selected = null;
}
foreach (Bond b in Bonds)
{
PointF Dir21 = b.Node2.Location.Subtract(b.Node1.Location).Normalize();
PointF gap = Dir21.Scale(10);
if (simpleMode && b.Node1.Type != Elements.Hydrogen && b.Node2.Type != Elements.Hydrogen || !simpleMode)
{
if (b.Type == BondType.Single || b.Type == BondType.Triple)
{
g.DrawLine(Pens.Black,
gap.X + b.Node1.Location.X * 30 * scale,
gap.Y + b.Node1.Location.Y * 30 * scale,
-gap.X + b.Node2.Location.X * 30 * scale,
-gap.Y + b.Node2.Location.Y * 30 * scale);
}
if (b.Type == BondType.Triple)
{
double angle = Math.Atan2(Dir21.Y, Dir21.X);
PointF lateral = new PointF((float)Math.Cos(angle + Math.PI / 2), (float)Math.Sin(angle + Math.PI / 2)).Scale(4);
g.DrawLine(Pens.Black,
lateral.X + gap.X + b.Node1.Location.X * 30 * scale,
lateral.Y + gap.Y + b.Node1.Location.Y * 30 * scale,
lateral.X - gap.X + b.Node2.Location.X * 30 * scale,
lateral.Y - gap.Y + b.Node2.Location.Y * 30 * scale);
g.DrawLine(Pens.Black,
-lateral.X + gap.X + b.Node1.Location.X * 30 * scale,
-lateral.Y + gap.Y + b.Node1.Location.Y * 30 * scale,
-lateral.X - gap.X + b.Node2.Location.X * 30 * scale,
-lateral.Y - gap.Y + b.Node2.Location.Y * 30 * scale);
}
if (b.Type == BondType.Double)
{
double angle = Math.Atan2(Dir21.Y, Dir21.X);
PointF lateral = new PointF((float)Math.Cos(angle + Math.PI / 2), (float)Math.Sin(angle + Math.PI / 2)).Scale(2);
g.DrawLine(Pens.Black,
lateral.X + gap.X + b.Node1.Location.X * 30 * scale,
lateral.Y + gap.Y + b.Node1.Location.Y * 30 * scale,
lateral.X - gap.X + b.Node2.Location.X * 30 * scale,
lateral.Y - gap.Y + b.Node2.Location.Y * 30 * scale);
g.DrawLine(Pens.Black,
-lateral.X + gap.X + b.Node1.Location.X * 30 * scale,
-lateral.Y + gap.Y + b.Node1.Location.Y * 30 * scale,
-lateral.X - gap.X + b.Node2.Location.X * 30 * scale,
-lateral.Y - gap.Y + b.Node2.Location.Y * 30 * scale);
}
}
}
for (int i = 0; i < 10; i++)
{
Tick();
}
return(bmp);
}
/*
* This method looks at all the directions we could go, then rates them based on how close they will take us
* to simulated bullets fired with both linear and head-on targeting generated by the waves we have logged.
* It is the core of our movement.
*/
public void chooseDirection(PointF enemyLocation, Operations operations, AdvancedRobot robot)
{
MovementWave w;
//This for loop rates each angle individually
double bestRating = Double.PositiveInfinity;
for (double moveAngle = 0; moveAngle < Math.PI * 2; moveAngle += Math.PI / 16D)
{
double rating = 0;
//Movepoint is position we would be at if we were to move one robot-length in the given direction.
PointF movePoint = project(new PointF((float)robot.X, (float)robot.Y), 36, moveAngle);
/*
* This loop will iterate through each wave and add a risk for the simulated bullets on each one
* to the total risk for this angle.
*/
for (int i = 0; i < moveWaves.Count; i++)
{
w = moveWaves[i];
//This part will remove waves that have passed our robot, so we no longer keep taking into account old ones
if (new PointF((float)robot.X, (float)robot.Y).Distance(w.origin) < (robot.Time - w.startTime) * w.speed + w.speed)
{
moveWaves.Remove(w);
}
else
{
/*
* This adds two risks for each wave: one based on the distance from where a head-on targeting
* bullet would be, and one for where a linear targeting bullet would be.
*/
rating += 1D /
Math.Pow(
movePoint.Distance(project(w.origin, movePoint.Distance(w.origin), w.angle)), 2);
rating += 1D /
Math.Pow(
movePoint.Distance(project(w.origin, movePoint.Distance(w.origin),
w.angle + w.latVel)), 2);
}
}
//This adds a risk associated with being to close to the other robot if there are no waves.
if (moveWaves.Count == 0)
{
rating = 1D / Math.Pow(movePoint.Distance(enemyLocation), 2);
}
//This part tells us to go in the direction if it is better than the previous best option and is reachable.
if (rating < bestRating &&
new RectangleF(50, 50, (float)(robot.BattleFieldWidth - 100), (float)(robot.BattleFieldHeight - 100)).Contains(
movePoint))
{
bestRating = rating;
/*
* These next three lines are a very codesize-efficient way to
* choose the best direction for moving to a point.
*/
int pointDir;
operations.Ahead = 1000 * (pointDir = (Math.Abs(moveAngle - robot.HeadingRadians) < Math.PI / 2 ? 1 : -1));
operations.TurnRightRadians = Utils.NormalRelativeAngle(moveAngle + (pointDir == -1 ? Math.PI : 0) - robot.HeadingRadians);
}
}
}
public static bool Equivalent(this PointF a, PointF b, float epsilon = 0.01f) => a.Distance(b) < epsilon;
public Operations HandleScanedRobot(AdvancedRobot robot, ScannedRobotEvent e, ScannedRobotEvent previousScaned,
Operations operations, BattleEvents battleEvents)
{
var newOperations = operations.Clone();
double absoluteBearing = robot.HeadingRadians + e.BearingRadians;
PointF myLocation = new PointF((float)robot.X, (float)robot.Y);
PointF predictedLocation = projectMotion(myLocation, absoluteBearing, e.Distance);
double predictedHeading;
double enemyTurnRate = -Utils.NormalRelativeAngle(expectedHeading - (predictedHeading = expectedHeading = e.HeadingRadians));
double bulletPower = Math.Min(e.Distance < 250 ? 500 / e.Distance : 200 / e.Distance, 3);
int time = 0;
while ((time++) * (20 - (3 * bulletPower)) < myLocation.Distance(predictedLocation) - 18)
{
predictedHeading += (enemyTurnRate / 3);
predictedLocation = projectMotion(predictedLocation, predictedHeading, e.Velocity);
if (!new RectangleF(18, 18, 764, 564).Contains(predictedLocation))
{
break;
}
}
double maxValue = Double.MinValue;
double angle = 0;
do
{
double value = Math.Abs(Math.Cos(Utils.NormalRelativeAngle(absoluteBearing - angle))) * e.Distance / 150;
PointF testedLocation = projectMotion(myLocation, angle, 8);
value -= testedLocation.Distance(predictedLocation);
value -= testedLocation.Distance(new PointF(400, 300)) / 3;
if (!new RectangleF(30, 30, 740, 540).Contains(testedLocation))
{
value -= 10000;
}
if (value > maxValue)
{
maxValue = value;
double turnAngle = angle - robot.HeadingRadians;
if (headingEnemy)
{
newOperations.Ahead = (Math.Cos(turnAngle) > 0 ? 100 : -100);
newOperations.TurnRightRadians = (Math.Tan(turnAngle));
}
else
{
var absoluteBearingMedkit = lastMedicalKitEvent.BearingRadians + robot.HeadingRadians;
double turn = absoluteBearingMedkit + Math.PI / 2;
turn -= Math.Max(0.5, (1 / lastMedicalKitEvent.Distance) * 100) * newOperations.Direction;
newOperations.TurnRightRadians = Utils.NormalRelativeAngle(turn - robot.HeadingRadians);
newOperations.Ahead = (Math.Cos(turn) > 0 ? 100 : -100);
}
}
} while ((angle += 0.01) < Math.PI * 2);
robot.MaxVelocity = (Math.Abs(robot.TurnRemaining) < 30 ? 8 : 8 - Math.Abs(robot.TurnRemaining / 30));
double gunTurn = Utils.NormalRelativeAngle(Math.Atan2(predictedLocation.X - myLocation.X, predictedLocation.Y - myLocation.Y) - robot.GunHeadingRadians);
newOperations.TurnGunRightRadians = (gunTurn);
if ((Math.Abs(gunTurn) < Math.PI / 9) && (robot.GunHeat == 0.0))
{
newOperations.BulletPower = (bulletPower);
}
newOperations.TurnRadarRightRadians = (2 * Utils.NormalRelativeAngle(absoluteBearing - robot.RadarHeadingRadians));
return(newOperations);
}
public static List <Point> FindBoundingContourPoints(IEnumerable <Point> contours, PointF[] boundingPoints)
{
if (boundingPoints.Length != 2)
{
return(null);
}
List <Point> contourPoints = contours.ToList();
List <Point> actualContourPointsList = new List <Point>();
foreach (Point point in contourPoints)
{
if (!actualContourPointsList.Contains(point))
{
actualContourPointsList.Add(point);
}
else
{
break;
}
}
PointF firstPoint = boundingPoints[0];
PointF lastPoint = boundingPoints[1];
int firstIndex = -1;
int lastIndex = -1;
double p1Dist = 10000;
double p2Dist = 10000;
//Loop through all the points and find the closest points to the bounds
for (int i = 0; i < actualContourPointsList.Count; i++)
{
double dist1 = firstPoint.Distance(actualContourPointsList[i]);
double dist2 = lastPoint.Distance(actualContourPointsList[i]);
if (dist1 < p1Dist)
{
p1Dist = dist1;
//closestFirstPoint = contourPoints[i];
firstIndex = i;
}
if (dist2 < p2Dist)
{
p2Dist = dist2;
//closestLastPoint = contourPoints[i];
lastIndex = i;
}
}
List <Point> result = new List <Point>();
//Return all the points that lie between first index and last index
int start = firstIndex <= lastIndex ? firstIndex : lastIndex;
int end = lastIndex >= firstIndex ? lastIndex : firstIndex;
for (int j = start; j <= end; j++)
{
result.Add(actualContourPointsList[j]);
}
return(result);
}
private double GetBestGapDistance(RBSK rbsk, Action <double> progressCallBack = null)
{
//Caluclate gap distnace if it hasn't been set
//Auto Find the gap distance
//Scan from 20 - 300, the range which gives us consistent results is the right one
int start = 20;
int end = 300;
int interval = 1;
Video.SetFrame(0);
Image <Gray, Byte> firstFrame = Video.GetGrayFrameImage();
Dictionary <int, PointF> nosePoints = new Dictionary <int, PointF>();
for (int i = start; i <= end; i += interval)
{
using (Image <Gray, Byte> filteredImage = firstFrame.SmoothMedian(5))
using (Image <Gray, Byte> binaryImage = filteredImage.ThresholdBinary(new Gray(30), new Gray(255)))
{
rbsk.Settings.GapDistance = i;
Point[] temp = null;
PointF[] mousePoints = RBSKService.RBSKParallel(binaryImage, rbsk, ref temp);
if (mousePoints != null)
{
//We've found a set of points for this gap distance, store it
nosePoints.Add(i, mousePoints[2]);
}
}
double progressValue = ((i - start) / ((double)end - start)) * 100;
if (progressCallBack != null)
{
progressCallBack(progressValue);
}
}
const double threshold = 20;
PointF? previousPoint = null;
List <int> currentSelection = new List <int>();
int bestCounter = 0;
double bestDistanceSoFar = -1;
foreach (KeyValuePair <int, PointF> kvp in nosePoints)
{
PointF currentPoint = kvp.Value;
//Do we have a value?
if (previousPoint.HasValue)
{
//Is the previous point within the threshold distance of the current point
if (currentPoint.Distance(previousPoint.Value) < threshold)
{
currentSelection.Add(kvp.Key);
previousPoint = currentPoint;
}
else
{
//We're not within the threshold, compare the current list to see if it's the best
if (currentSelection.Count > bestCounter)
{
bestCounter = currentSelection.Count;
bestDistanceSoFar = currentSelection.Average();
}
currentSelection.Clear();
previousPoint = null;
}
}
else
{
previousPoint = currentPoint;
}
}
if (currentSelection.Count > bestCounter)
{
bestDistanceSoFar = currentSelection.Average();
}
if (bestDistanceSoFar == -1)
{
bestDistanceSoFar = 100;
}
return(bestDistanceSoFar);
}
private LineSegment2D[] FindSpine(LineSegment2D[] lines, RotatedRect rotatedRectangle, Image <Gray, Byte> img, PointF headPoint, PointF tailPoint)
{
//LineSegment2DF[] initialLines = new LineSegment2DF[2];
//if (!rotatedRectangle.Size.IsEmpty)
//{
// //Use one of the smaller boundries from rotatedRect for initial detection
// PointF[] vertices = rotatedRectangle.GetVertices();
// PointF p1 = vertices[0];
// PointF p2 = vertices[1];
// PointF p3 = vertices[2];
// PointF p4 = vertices[3];
// //PointF p1 = new PointF(rotatedRectangle.Left, rotatedRectangle.Top);
// //PointF p2 = new PointF(rotatedRectangle.Left, rotatedRectangle.Bottom);
// //PointF p3 = new PointF(rotatedRectangle.Right, rotatedRectangle.Bottom);
// //PointF p4 = new PointF(rotatedRectangle.Right, rotatedRectangle.Top);
// if (p2.DistanceSquared(p1) < p2.DistanceSquared(p3))
// {
// //p1 and p2 are paired, p3 and p4 are paired
// initialLines[0] = new LineSegment2DF(p1, p2);
// initialLines[1] = new LineSegment2DF(p3, p4);
// }
// else
// {
// //p2 and p3 are paired, p1 and p4 are paired
// initialLines[0] = new LineSegment2DF(p2, p3);
// initialLines[1] = new LineSegment2DF(p1, p4);
// }
//}
//else
//{
// //Use one of the image sides for intial detection
// initialLines[1] = new LineSegment2DF(new PointF(0, 0), new PointF(0, img.Height - 1));
// initialLines[0] = new LineSegment2DF(new PointF(img.Width - 1, 0), new PointF(img.Width - 1, img.Height - 1));
// //initialLines[0] = new LineSegment2DF(new PointF(0, 0), new PointF(img.Width - 1, 0));
// //initialLines[1] = new LineSegment2DF(new PointF(0 - 1, img.Height-1), new PointF(img.Width - 1, img.Height - 1));
//}
//Find closest line segment to initial line
double minDistance = double.MaxValue;
LineSegment2D?targetLine = null;
foreach (LineSegment2D line in lines)
{
//double minDistance1 = MathExtension.MinDistanceFromLineToPoint(initialLines[0].P1, initialLines[0].P2, line.P1);
//double minDistance2 = MathExtension.MinDistanceFromLineToPoint(initialLines[0].P1, initialLines[0].P2, line.P2);
double minDistance1 = headPoint.DistanceSquared(line.P1);
double minDistance2 = headPoint.DistanceSquared(line.P2);
double currentDist = minDistance1 < minDistance2 ? minDistance1 : minDistance2;
if (currentDist < minDistance)
{
minDistance = currentDist;
targetLine = line;
}
}
List <LineSegment2D> previousLines = new List <LineSegment2D>();
//We have our target line, try to traverse to the other side
LineSegment2D?nextLine = null;
if (targetLine.HasValue)
{
previousLines.Add(targetLine.Value);
}
do
{
GetValue(lines, tailPoint, previousLines.ToArray(), targetLine, ref nextLine);
if (nextLine.HasValue)
{
targetLine = nextLine;
previousLines.Add(nextLine.Value);
}
}while (nextLine.HasValue);
if (previousLines.Count == 0)
{
return(null);
}
double minDistanceFromEnd1 = tailPoint.Distance(previousLines.Last().P1); //MathExtension.MinDistanceFromLineToPoint(initialLines[1].P1, initialLines[1].P2, previousLines.Last().P1));
double minDistanceFromEnd2 = tailPoint.Distance(previousLines.Last().P2); //MathExtension.MinDistanceFromLineToPoint(initialLines[1].P1, initialLines[1].P2, previousLines.Last().P2);
if (minDistanceFromEnd1 < 30 || minDistanceFromEnd2 < 30)
{
//Made it!
return(previousLines.ToArray());
}
minDistance = double.MaxValue;
targetLine = null;
foreach (var line in lines)
{
double minDistance1 = tailPoint.Distance(line.P1); //MathExtension.MinDistanceFromLineToPoint(initialLines[1].P1, initialLines[1].P2, line.P1));
double minDistance2 = tailPoint.Distance(line.P2); //MathExtension.MinDistanceFromLineToPoint(initialLines[1].P1, initialLines[1].P2, line.P2));
double currentDist = minDistance1 < minDistance2 ? minDistance1 : minDistance2;
if (currentDist < minDistance)
{
minDistance = currentDist;
targetLine = line;
}
}
List <LineSegment2D> previousLines2 = new List <LineSegment2D>();
//We have our target line, try to traverse to the other side
nextLine = null;
if (targetLine.HasValue)
{
previousLines2.Add(targetLine.Value);
}
do
{
GetValue(lines, headPoint, previousLines2.ToArray(), targetLine, ref nextLine);
if (nextLine.HasValue)
{
targetLine = nextLine;
previousLines2.Add(nextLine.Value);
}
}while (nextLine.HasValue);
previousLines2.Reverse();
previousLines.AddRange(previousLines2);
return(previousLines.ToArray());
}
public Meteor(Hex.OffsetCoordinates meteorCoordinates, int health, int damage, HexagonNeighborDirection movementDirection) : base(Player.None, health, ObjectType.Meteor, 1)
{
this.MovementDirection = movementDirection;
this.ObjectCoordinates = meteorCoordinates;
this.CollisionDamage = damage;
int meteorRadius = 15; //TODO: make meteor size dependent on it's damage
this.ObjectAppearance = new List <DrawableShape>
{
new Ellipse(new Point(-meteorRadius, -meteorRadius), Colors.DarkGray, new Size(2 * meteorRadius, 2 * meteorRadius)),
};
var darkSpots = new List <Ellipse>();
Random rand = new Random();
int minSpotRadius = meteorRadius / 7;
int maxSpotRadius = meteorRadius / 5;
for (int i = 0; i < 20; i++)
{
var spotRadius = rand.Next(minSpotRadius, maxSpotRadius + 1);
var r = rand.Next(spotRadius, meteorRadius - spotRadius);
var phi = 2 * Math.PI * rand.NextDouble();
int x = (int)(r * Math.Cos(phi)) - spotRadius;
int y = (int)(r * Math.Sin(phi)) - spotRadius;
var spotCenter = new PointF(x + spotRadius, y + spotRadius);
if (!darkSpots.Any(existingSpot => spotCenter.Distance(existingSpot.Origin + existingSpot.Size / 2) < spotRadius + existingSpot.Size.Width))
{
darkSpots.Add(new Ellipse(new Point(x, y), Colors.DimGray, new Size(2 * spotRadius, 2 * spotRadius)));
}
}
this.ObjectAppearance.AddRange(darkSpots);
var flameSweepsOnMeteor = new Dictionary <Color, double> {
{ Colors.Orange, 2 * Math.PI / 3 }, { Colors.Red, Math.PI / 4 }
};
var flameSpanAngle = Math.PI / 4;
foreach (var flameSweep in flameSweepsOnMeteor)
{
float flameBaseLengthHalf = meteorRadius * (float)Math.Sin(flameSweep.Value / 2);
float flameHeight = flameBaseLengthHalf / (float)Math.Tan(flameSpanAngle / 2);
float flameTipOffset = meteorRadius * (float)Math.Cos(flameSweep.Value / 2) + flameHeight;
// arcSpanAngle = 180 - 2 * (90 - flameSpanAngle/2) = 180 - 180 + 2 * flameSpanAngle/2 = flameSpanAngle
float arcRadius = flameHeight / (float)Math.Sin(flameSpanAngle);
var pathComponents = new List <DrawableShape>
{
new Arc(new Point(-meteorRadius, -meteorRadius),
new SizeF(2 * meteorRadius, 2 * meteorRadius),
180 - (float)(flameSweep.Value.ToDegrees() / 2),
(float)flameSweep.Value.ToDegrees()),
new Arc(new PointF(-flameTipOffset - arcRadius, -2 * arcRadius),
new SizeF(2 * arcRadius, 2 * arcRadius),
90 - (float)flameSpanAngle.ToDegrees(),
(float)flameSpanAngle.ToDegrees()),
new Arc(new PointF(-flameTipOffset - arcRadius, 0),
new SizeF(2 * arcRadius, 2 * arcRadius),
-90,
(float)flameSpanAngle.ToDegrees())
};
this.ObjectAppearance.Add(new Path(new Point(0, 0), flameSweep.Key, pathComponents));
}
}
public List <List <PointF> > FindKeyPoints(Point[] points, int numberOfSlides, bool removeDuplicates = true)
{
//Stopwatch sw = new Stopwatch();
//sw.Start();
//Point[] allPoints = points.ToArray();
List <List <PointF> > result = new List <List <PointF> >();
if (points.Length <= 1)
{
return(result);
}
int listCounter = 0;
for (int i = 0; i <= numberOfSlides; i++)
{
result.Add(new List <PointF>());
}
List <PointF> visitedPoints = new List <PointF>();
PointF currentPoint = points[0];
if (removeDuplicates)
{
visitedPoints.Add(currentPoint);
}
double distanceCounter = 0;
double offset = Settings.GapDistance / numberOfSlides;
result[listCounter].Add(currentPoint);
listCounter++;
if (listCounter > numberOfSlides)
{
listCounter = 0;
}
int pointCounter = 0;
int targetLimit = Settings.NumberOfPoints + 1;
int limitCounter = 0;
int?targetList = null;
while (true)
{
Point targetPoint = points[pointCounter];
double dist = currentPoint.Distance(targetPoint);
if (distanceCounter + dist >= offset)
{
StraightLine line = new StraightLine(currentPoint, targetPoint);
double addOn = offset - distanceCounter;
PointF keyPoint = line.DistanceFromStartFloat(addOn);
result[listCounter].Add(keyPoint);
if (listCounter == targetList)
{
limitCounter++;
if (limitCounter == targetLimit)
{
break;
}
}
listCounter++;
if (listCounter > numberOfSlides)
{
listCounter = 0;
}
currentPoint = keyPoint;
distanceCounter = 0;
}
else
{
distanceCounter += dist;
currentPoint = points[pointCounter];
pointCounter++;
if (pointCounter == points.Length)
{
targetList = listCounter;
pointCounter -= points.Length;
}
if (removeDuplicates)
{
if (visitedPoints.Contains(points[pointCounter]))
{
break;
}
else
{
visitedPoints.Add(points[pointCounter]);
}
}
}
}
//sw.Stop();
//Console.WriteLine("FindKeyPoints: " + sw.ElapsedMilliseconds);
return(result);
}
private Dictionary <int, ISingleFrameResult> GenerateDictionary()
{
//const int SecondBinaryThresold = 10;
const double movementDelta = 15;
Services.RBSK.RBSK rbsk = MouseService.GetStandardMouseRules();
if (GapDistance <= 0)
{
GapDistance = GetBestGapDistance(rbsk);
}
rbsk.Settings.GapDistance = GapDistance;
rbsk.Settings.BinaryThreshold = ThresholdValue;
Dictionary <int, ISingleFrameResult> results = new Dictionary <int, ISingleFrameResult>();
Video.Reset();
int counter = 0;
int frameCount = Video.FrameCount;
while (true)
{
if (Paused)
{
continue;
}
if (Cancelled)
{
break;
}
using (Image <Bgr, byte> frame = Video.GetFrameImage())
{
if (frame == null)
{
break;
}
if (Roi != Rectangle.Empty)
{
frame.ROI = Roi;
}
double waist, waistArea, waistArea2, waistArea3, waistArea4;
PointF centroid;
//if (counter == 500)
//{
// frame.ROI = new Rectangle(0,0,1,1);
//}
PointF[] headPoints = ProcessFrame(frame, rbsk, out waist, out waistArea, out waistArea2, out waistArea3, out waistArea4, out centroid, true);
if (Roi != Rectangle.Empty)
{
centroid.X += Roi.X;
centroid.Y += Roi.Y;
if (headPoints != null)
{
headPoints[0].X += Roi.X;
headPoints[0].Y += Roi.Y;
headPoints[1].X += Roi.X;
headPoints[1].Y += Roi.Y;
headPoints[2].X += Roi.X;
headPoints[2].Y += Roi.Y;
headPoints[3].X += Roi.X;
headPoints[3].Y += Roi.Y;
headPoints[4].X += Roi.X;
headPoints[4].Y += Roi.Y;
}
}
//Console.WriteLine(waist + " " + waistArea);
//if (headPoints != null)
//{
// foreach (var point in headPoints)
// {
// frame.Draw(new CircleF(point, 2), new Bgr(Color.Yellow), 2);
// }
//}
//ImageViewer.Show(frame);
ISingleFrameResult frameResult = ModelResolver.Resolve <ISingleFrameResult>();
frameResult.HeadPoints = headPoints;
frameResult.CentroidSize = waist;
frameResult.PelvicArea = waistArea;
frameResult.PelvicArea2 = waistArea2;
frameResult.PelvicArea3 = waistArea3;
frameResult.PelvicArea4 = waistArea4;
frameResult.Centroid = centroid;
results.Add(counter, frameResult);
counter++;
if (ProgressUpdates != null)
{
ProgressUpdates(this, new RBSKVideoUpdateEvent((double)counter / frameCount));
}
}
}
if (Cancelled)
{
return(results);
}
//Find the most confident run of head detections
List <List <HeadPointHolder> > confidentPoints = new List <List <HeadPointHolder> >();
PointF lastPoint = PointF.Empty;
List <HeadPointHolder> currentList = new List <HeadPointHolder>();
double currentTotalMovement = 0;
for (int i = 0; i < results.Count; i++)
{
PointF[] headPoints = results[i].HeadPoints;
if (headPoints == null)
{
//No head found, use alternative methods
if (currentList.Count > 0)
{
confidentPoints.Add(currentList);
}
currentList = new List <HeadPointHolder>();
lastPoint = PointF.Empty;
currentTotalMovement = 0;
//Console.WriteLine("Head points are null " + i);
continue;
}
//Check against expected position
PointF currentPoint = headPoints[2];
if (lastPoint.IsEmpty)
{
lastPoint = currentPoint;
currentList.Add(new HeadPointHolder(i, currentPoint, currentTotalMovement));
continue;
}
double distance = lastPoint.Distance(currentPoint);
if (distance < movementDelta)
{
//Acceptable
currentTotalMovement += distance;
currentList.Add(new HeadPointHolder(i, currentPoint, currentTotalMovement));
lastPoint = currentPoint;
}
else
{
if (currentList.Count > 0)
{
confidentPoints.Add(currentList);
}
currentList = new List <HeadPointHolder>();
lastPoint = PointF.Empty;
currentTotalMovement = 0;
//Console.WriteLine("Outside of range " + i);
}
}
if (currentList.Count > 0)
{
confidentPoints.Add(currentList);
}
if (confidentPoints.Count == 0)
{
return(results);
}
//Find longest list with highest total movement
List <HeadPointHolder> bestList = confidentPoints[0];
//double currentMaxTraverse = bestList.Last().TotalDelta;
foreach (List <HeadPointHolder> list in confidentPoints)
{
//double currentTotalDelta = list.Last().TotalDelta;
if (list.Count > bestList.Count)
{
//currentMaxTraverse = currentTotalDelta;
bestList = list;
}
}
//We now have a confident set of headpoints
int minIndex = bestList.Select(x => x.FrameNumber).Min();
int maxIndex = bestList.Select(x => x.FrameNumber).Max();
minIndex--;
while (minIndex >= 0)
{
//Traverse backwards
PointF[] lastPoints = results[minIndex + 1].HeadPoints;
if (lastPoints != null)
{
lastPoint = lastPoints[2];
}
else
{
lastPoint = new PointF(-100, -100);
}
PointF[] headPoints = results[minIndex].HeadPoints;
if (headPoints == null)
{
//No head found, use alternative methods
int previousThreshold = rbsk.Settings.BinaryThreshold;
rbsk.Settings.BinaryThreshold = ThresholdValue2;
Video.SetFrame(minIndex);
PointF[] headPoints2 = null;
using (Image <Bgr, byte> frame = Video.GetFrameImage())
{
if (frame == null)
{
break;
}
if (Roi != Rectangle.Empty)
{
frame.ROI = Roi;
}
headPoints2 = ProcessFrame(frame, rbsk, lastPoint, movementDelta);
}
rbsk.Settings.BinaryThreshold = previousThreshold;
if (headPoints2 != null)
{
//We've got a good location
//double temp = results[minIndex].CentroidSize;
results[minIndex].HeadPoints = headPoints2;
//results[minIndex].CentroidSize = temp;
//results[minIndex] = new Tuple<PointF[], double>(headPoints2, temp);
}
else
{
for (int i = 0; i <= minIndex; i++)
{
if (results.ContainsKey(i))
{
//double temp = results[i].Item2;
//results[i] = new Tuple<PointF[], double>(null, temp);
results[i].HeadPoints = null;
}
}
break;
}
minIndex--;
continue;
}
//Check against expected position
PointF currentPoint = headPoints[2];
if (lastPoint.Distance(currentPoint) < movementDelta)
{
//Good point
}
else
{
//Wrong point, search for another rbsk that falls within range
//if (minIndex == 17 || minIndex == 16)
//{
// Console.WriteLine("");
//}
Video.SetFrame(minIndex);
PointF[] headPoints2 = null;
using (Image <Bgr, byte> frame = Video.GetFrameImage())
{
if (frame == null)
{
break;
}
if (Roi != Rectangle.Empty)
{
frame.ROI = Roi;
}
headPoints2 = ProcessFrame(frame, rbsk, lastPoint, movementDelta);
}
if (headPoints2 != null)
{
//We've got a good location
//double temp = results[maxIndex].Item2;
//results[minIndex] = new Tuple<PointF[], double>(headPoints2, temp);
results[minIndex].HeadPoints = headPoints2;
}
else
{
//No other rbsk falls within range, use alternative methods
//Console.WriteLine("Need to use alternative methods");
for (int i = 0; i <= minIndex; i++)
{
if (results.ContainsKey(i))
{
//double temp = results[i].Item2;
//results[i] = new Tuple<PointF[], double>(null, temp);
results[i].HeadPoints = null;
}
}
break;
}
}
minIndex--;
}
maxIndex++;
while (maxIndex < results.Count)
{
//Traverse backwards
PointF[] lastPoints = results[maxIndex - 1].HeadPoints;
if (lastPoints != null)
{
lastPoint = lastPoints[2];
}
else
{
lastPoint = new PointF(-100, -100);
}
PointF[] headPoints = results[maxIndex].HeadPoints;
if (headPoints == null)
{
//No head found, use alternative methods
int previousThreshold = rbsk.Settings.BinaryThreshold;
rbsk.Settings.BinaryThreshold = ThresholdValue2;
Video.SetFrame(maxIndex);
PointF[] headPoints2 = null;
using (Image <Bgr, byte> frame = Video.GetFrameImage())
{
if (frame == null)
{
break;
}
if (Roi != Rectangle.Empty)
{
frame.ROI = Roi;
}
headPoints2 = ProcessFrame(frame, rbsk, lastPoint, movementDelta);
}
rbsk.Settings.BinaryThreshold = previousThreshold;
if (headPoints2 != null)
{
//We've got a good location
//double temp = results[maxIndex].Item2;
//results[maxIndex] = new Tuple<PointF[], double>(headPoints2, temp);
results[maxIndex].HeadPoints = headPoints2;
}
else
{
int max = results.Keys.Max();
for (int i = maxIndex; i <= max; i++)
{
if (results.ContainsKey(i))
{
//double temp = results[i].Item2;
//results[i] = new Tuple<PointF[], double>(null, temp);
results[i].HeadPoints = null;
}
}
break;
}
maxIndex++;
continue;
}
//Check against expected position
PointF currentPoint = headPoints[2];
if (lastPoint.Distance(currentPoint) < movementDelta)
{
//Good point
}
else
{
//Wrong point, search for another rbsk that falls within range
Video.SetFrame(maxIndex);
PointF[] headPoints2 = null;
using (Image <Bgr, byte> frame = Video.GetFrameImage())
{
if (frame == null)
{
break;
}
if (Roi != Rectangle.Empty)
{
frame.ROI = Roi;
}
headPoints2 = ProcessFrame(frame, rbsk, lastPoint, movementDelta);
}
if (headPoints2 != null)
{
//We've got a good location
//double temp = results[maxIndex].Item2;
//results[maxIndex] = new Tuple<PointF[], double>(headPoints2, temp);
results[maxIndex].HeadPoints = headPoints2;
}
else
{
//No other rbsk falls within range, use alternative methods
//Console.WriteLine("Need to use alternative methods");
int max = results.Keys.Max();
for (int i = maxIndex; i <= max; i++)
{
if (results.ContainsKey(i))
{
//double temp = results[i].Item2;
//results[i] = new Tuple<PointF[], double>(null, temp);
results[i].HeadPoints = null;
}
}
break;
}
}
maxIndex++;
}
return(results);
}
private void EditorWindow_MouseMove(object sender, MouseEventArgs e)
{
StatusBar.Message($"X: {e.X} , Y: {e.Y}");
if (ActiveCommand != DrawCommands.Noun && clickCount >= 1)
{
//delta_Y = p2.Sub(e.Location);
var offsetPoint = new PointF(offsetX, offsetY).Scale(Zoom);
p2 = (new PointF(e.X, e.Y).Sub(offsetPoint)).Scale(1 / Zoom);
switch (ActiveCommand)
{
case DrawCommands.Line:
#region Line
tempShape = new GLine(p1, p2);
#endregion
break;
case DrawCommands.Circle:
#region Circle
tempShape = new GCircle(p1, p1.Distance(p2));
Debug.WriteLine($"x:{p1.X},Y:{p1.Y},R:{p1.Distance(p2)}");
Debug.WriteLine($"offsetX:{offsetX},OffsetY:{ offsetY}");
#endregion
break;
case DrawCommands.Rectangle:
#region Rectangle
tempShape = new GRectangle(p1, p2);
#endregion
break;
case DrawCommands.PolyLine:
#region PolyLine
tempShape = tempPolyLine;
if (clickCount == 1)
{
if (tempPolyLine == null)
{
tempPolyLine = new GPolyLine();
tempPolyLine.Lines.Add(new GLine(p1, p2));
}
else
{
tempPolyLine.Lines.LastOrDefault().EndPoint = p2;
}
}
else if (clickCount == 2)
{
//check end line position to exit or continue drawing.
var prevLine = tempPolyLine.Lines.LastOrDefault();
tempPolyLine.Lines.Add(new GLine(prevLine.EndPoint, p2));
if (p2.Distance(tempPolyLine.Lines.FirstOrDefault().StartPoint) < Setup.Snap)
{
GeometryEngine.AddShape(tempShape);
clickCount = 0;
tempShape = null;
tempPolyLine = null;
// ActiveCommand = DrawCommands.Noun;
}
else
{
clickCount--;
}
}
#endregion
break;
case DrawCommands.Curve:
#region Curve
if (clickCount == 1)
{
tempShape = new GLine(p1, p2);
}
else if (clickCount == 2)
{
if (tempShape is GCurve)
{
((GCurve)tempShape).Center = p2;
}
else
{
var l = (GLine)tempShape;
tempShape = new GCurve(l.StartPoint, p2, l.EndPoint);
}
}
else if (clickCount == 3)
{
((GCurve)tempShape).Center = p2;
GeometryEngine.AddShape(tempShape);
clickCount = 0;
}
#endregion
break;
case DrawCommands.Parabola:
#region Parabola
if (clickCount == 1)
{
tempShape = new GLine(p1, p2);
}
else if (clickCount == 2)
{
if (tempShape is GParabola)
{
((GParabola)tempShape).Points[2] = p2;
}
else
{
var l = (GLine)tempShape;
tempShape = new GParabola(l.StartPoint, l.EndPoint, p2);
}
}
else if (clickCount == 3)
{
((GParabola)tempShape).Points[2] = p2;
GeometryEngine.AddShape(tempShape);
clickCount = 0;
}
#endregion
break;
case DrawCommands.Clear:
break;
case DrawCommands.Noun:
break;
default:
break;
}
EditorWindow.Invalidate();
}
else if (clickCount == 0)
{
MouseEventArgs mouse = e as MouseEventArgs;
if (mouse.Button == MouseButtons.Left)
{
Point mousePosNow = mouse.Location;
int deltaX = mousePosNow.X - mouseDown.X; // the distance the mouse has been moved since mouse was pressed
int deltaY = mousePosNow.Y - mouseDown.Y;
offsetX = (int)(startx + (deltaX / Zoom)); // calculate new offset of image based on the current zoom factor
offsetY = (int)(starty + (deltaY / Zoom));
EditorWindow.Invalidate();
}
}
}
public List <PointF> FindKeyPoints(Point[] points, float offset = 0, bool removeDuplicates = true)
{
//Stopwatch sw = new Stopwatch();
//sw.Start();
//Point[] allPoints = points.ToArray();
List <PointF> result = new List <PointF>();
List <PointF> visitedPoints = new List <PointF>();
PointF currentPoint = points[0];
if (removeDuplicates)
{
visitedPoints.Add(currentPoint);
}
double distanceCounter = 0;
if (offset == 0)
{
result.Add(currentPoint);
}
else
{
distanceCounter += offset;
}
int pointCounter = 1;
while (true)
{
Point targetPoint = points[pointCounter];
double dist = currentPoint.Distance(targetPoint);
if (distanceCounter + dist >= Settings.GapDistance)
{
StraightLine line = new StraightLine(currentPoint, targetPoint);
double addOn = Settings.GapDistance - distanceCounter;
PointF keyPoint = line.DistanceFromStart(addOn);
result.Add(keyPoint);
currentPoint = keyPoint;
distanceCounter = 0;
}
else
{
distanceCounter += dist;
currentPoint = points[pointCounter];
pointCounter++;
if (pointCounter == points.Length)
{
break;
}
if (removeDuplicates)
{
if (visitedPoints.Contains(points[pointCounter]))
{
break;
}
else
{
visitedPoints.Add(points[pointCounter]);
}
}
}
}
//sw.Stop();
//Console.WriteLine("FindKeyPoints: " + sw.ElapsedMilliseconds);
return(result);
}
public void FindTail(Point[] mouseContour, PointF[] spine, Image <Bgr, Byte> drawImage, double width, PointF centroid, out List <Point> bodyPoints, out double waistLength, out double pelvicArea, out double pelvicArea2)
{
//Generate graph for both sides of spine
List <Tuple <PointF, double> > r1Distances = new List <Tuple <PointF, double> >();
List <Tuple <PointF, double> > r2Distances = new List <Tuple <PointF, double> >();
double halfWidth = width / 2;
double quarterWidth = halfWidth / 2;
//Console.WriteLine("Quarter Width: " + quarterWidth);
//bool bodyStarted1 = false, bodyStarted2 = false;
//bool bodyEnded1 = false, bodyEnded2 = false;
PointF r1BodyStart = PointF.Empty, r1BodyEnd = PointF.Empty, r2BodyStart = PointF.Empty, r2BodyEnd = PointF.Empty;
for (int i = 1; i < spine.Length; i++)
{
LineSegment2DF line = new LineSegment2DF(spine[i - 1], spine[i]);
//Create direction vector
Vector lineDirection = new Vector(line.P2.X - line.P1.X, line.P2.Y - line.P1.Y);
lineDirection.Normalize();
//Create vector perpendicular to spine
Vector r1 = new Vector(lineDirection.Y, -lineDirection.X);
Vector r2 = new Vector(-lineDirection.Y, lineDirection.X);
//Get starting point
Vector startingPoint = new Vector(line.P1.X, line.P1.Y);
//We have our vectors for this part of the spine, iterate over spine length by 1
double length = line.Length;
for (int spinePos = 0; spinePos < length; spinePos++)
{
Vector p = startingPoint + (spinePos * lineDirection);
Vector test = p + (r1 * 300);
Vector test2 = p + (r2 * 300);
PointF start = new PointF((float)p.X, (float)p.Y);
PointF p1 = new PointF((float)test.X, (float)test.Y);
PointF p2 = new PointF((float)test2.X, (float)test2.Y);
PointF intersect1 = MathExtension.PolygonLineIntersectionPoint(start, p1, mouseContour);
PointF intersect2 = MathExtension.PolygonLineIntersectionPoint(start, p2, mouseContour);
if (!intersect1.IsEmpty)
{
double distance = intersect1.Distance(start);
r1Distances.Add(new Tuple <PointF, double>(intersect1, distance));
}
if (!intersect2.IsEmpty)
{
double distance = intersect2.Distance(start);
r2Distances.Add(new Tuple <PointF, double>(intersect2, distance));
}
}
}
//Iterate forwards to find body start, backwards to find body end
int r1Count = r1Distances.Count;
for (int i = 0; i < r1Count; i++)
{
Tuple <PointF, double> currentItem = r1Distances.ElementAt(i);
if (currentItem.Item2 > quarterWidth)
{
r1BodyStart = currentItem.Item1;
break;
}
}
for (int i = r1Count - 1; i >= 0; i--)
{
Tuple <PointF, double> currentItem = r1Distances.ElementAt(i);
if (currentItem.Item2 > quarterWidth)
{
r1BodyEnd = currentItem.Item1;
break;
}
}
int r2Count = r2Distances.Count;
for (int i = 0; i < r2Count; i++)
{
Tuple <PointF, double> currentItem = r2Distances.ElementAt(i);
if (currentItem.Item2 > quarterWidth)
{
r2BodyStart = currentItem.Item1;
break;
}
}
for (int i = r2Count - 1; i >= 0; i--)
{
Tuple <PointF, double> currentItem = r2Distances.ElementAt(i);
if (currentItem.Item2 > quarterWidth)
{
r2BodyEnd = currentItem.Item1;
break;
}
}
if (r1BodyStart.IsEmpty || r1BodyEnd.IsEmpty || r2BodyStart.IsEmpty || r2BodyEnd.IsEmpty)
{
bodyPoints = null;
waistLength = -1;
pelvicArea = -1;
pelvicArea2 = -1;
return;
}
Point[] alternateSegment1 = MathExtension.GetSegmentOfPolygon(mouseContour, r1BodyStart, r2BodyStart);
Point[] alternateSegment2 = MathExtension.GetSegmentOfPolygon(mouseContour, r1BodyEnd, r2BodyEnd);
if (alternateSegment1 == null || alternateSegment1.Length == 0 || alternateSegment2 == null || alternateSegment2.Length == 0)
{
bodyPoints = null;
waistLength = -1;
pelvicArea = -1;
pelvicArea2 = -1;
return;
}
for (int i = 1; i < alternateSegment1.Length; i++)
{
LineSegment2D line = new LineSegment2D(alternateSegment1[i - 1], alternateSegment1[i]);
drawImage.Draw(line, new Bgr(Color.Green), 2);
}
for (int i = 1; i < alternateSegment2.Length; i++)
{
LineSegment2D line = new LineSegment2D(alternateSegment2[i - 1], alternateSegment2[i]);
drawImage.Draw(line, new Bgr(Color.Red), 2);
}
Point[] bodySegment1 = MathExtension.GetSegmentOfPolygon(mouseContour, r1BodyStart, r1BodyEnd);
Point[] bodySegment2 = MathExtension.GetSegmentOfPolygon(mouseContour, r2BodyStart, r2BodyEnd);
if (bodySegment1 == null || bodySegment2 == null || bodySegment1.Length == 0 || bodySegment2.Length == 0)
{
bodyPoints = null;
waistLength = -1;
pelvicArea = -1;
pelvicArea2 = -1;
return;
}
double d1 = alternateSegment2[0].DistanceSquared(bodySegment2[0]);
double d2 = alternateSegment2[0].DistanceSquared(bodySegment2.Last());
double d3 = alternateSegment2[0].DistanceSquared(bodySegment1[0]);
double d4 = alternateSegment2[0].DistanceSquared(bodySegment1.Last());
Point[] noTailPoints = null;
if (d1 < d2 && d1 < d3 && d1 < d4)
{
Point[] p1 = bodySegment2.Reverse().ToArray();
Point[] p2 = alternateSegment2;
Point[] p3 = null;
double f1 = alternateSegment2.Last().DistanceSquared(bodySegment1[0]);
double f2 = alternateSegment2.Last().DistanceSquared(bodySegment1.Last());
if (f1 < f2)
{
p3 = bodySegment1;
}
else
{
p3 = bodySegment1.Reverse().ToArray();
}
noTailPoints = p1.Concat(p2).Concat(p3).ToArray();
}
else if (d2 < d3 && d2 < d4)
{
Point[] p1 = bodySegment2;
Point[] p2 = alternateSegment2;
Point[] p3 = null;
double f1 = alternateSegment2.Last().DistanceSquared(bodySegment1[0]);
double f2 = alternateSegment2.Last().DistanceSquared(bodySegment1.Last());
if (f1 < f2)
{
p3 = bodySegment1;
}
else
{
p3 = bodySegment1.Reverse().ToArray();
}
noTailPoints = p1.Concat(p2).Concat(p3).ToArray();
}
else if (d3 < d4)
{
Point[] p1 = bodySegment1;
Point[] p2 = alternateSegment2;
Point[] p3 = null;
double f1 = alternateSegment2.Last().DistanceSquared(bodySegment2[0]);
double f2 = alternateSegment2.Last().DistanceSquared(bodySegment2.Last());
if (f1 < f2)
{
p3 = bodySegment2;
}
else
{
p3 = bodySegment2.Reverse().ToArray();
}
noTailPoints = p1.Concat(p2).Concat(p3).ToArray();
}
else
{
Point[] p1 = bodySegment1;
Point[] p2 = alternateSegment2;
Point[] p3 = null;
double f1 = alternateSegment2.Last().DistanceSquared(bodySegment2[0]);
double f2 = alternateSegment2.Last().DistanceSquared(bodySegment2.Last());
if (f1 < f2)
{
p3 = bodySegment2;
}
else
{
p3 = bodySegment2.Reverse().ToArray();
}
noTailPoints = p1.Concat(p2).Concat(p3).ToArray();
}
RotatedRect rotatedRect = CvInvoke.MinAreaRect(noTailPoints.Select(x => new PointF(x.X, x.Y)).ToArray());
//bodyPoints = new List<Point>(noTailPoints);
//PointF lastTail = alternateSegment1[0];
//PointF[] allBody = bodySegment1.Concat(bodySegment2.Reverse()).Select(x => new PointF(x.X, x.Y)).ToArray();
//Point[] allBody = mouseContour;
double spineDistance1 = SpineExtension.FindDistanceAlongSpine(spine, centroid);
double spineDistance2 = SpineExtension.FindDistanceAlongSpine(spine, alternateSegment1[0]);
double halfWayDistance = (spineDistance1 + spineDistance2) / 2d;
//Console.WriteLine("Spine Distance from point: " + spineDistance1);
//spineDistance1 += 50;
PointF intersection;
Vector targetDirection2;
PointF intersection2;
Vector targetDirection3;
PointF intersection3;
Vector targetDirection4;
bool result = SpineExtension.GetPerpendicularLineDistanceFromBase(spine, spineDistance1, out intersection, out targetDirection2);
bool result2 = SpineExtension.GetPerpendicularLineDistanceFromBase(spine, halfWayDistance, out intersection2, out targetDirection3);
bool result3 = SpineExtension.GetPerpendicularLineDistanceFromBase(spine, spineDistance2, out intersection3, out targetDirection4);
PointF[] temp = rotatedRect.GetVertices();
bool widthShorter = temp[1].DistanceSquared(temp[0]) < temp[1].DistanceSquared(temp[2]);
Vector targetDirection;
if (widthShorter)
{
targetDirection = new Vector(temp[1].X - temp[0].X, temp[1].Y - temp[0].Y);
}
else
{
targetDirection = new Vector(temp[1].X - temp[2].X, temp[1].Y - temp[2].Y);
}
if (!result)
{
//Console.WriteLine("Unable to get perpendiular length");
bodyPoints = null;
waistLength = -1;
pelvicArea = -1;
pelvicArea2 = -1;
return;
}
PointF i1 = new PointF(intersection.X + (float)(targetDirection.X * 100), intersection.Y + (float)(targetDirection.Y * 100));
PointF i2 = new PointF(intersection.X + (float)(targetDirection.X * -100), intersection.Y + (float)(targetDirection.Y * -100));
PointF i3 = new PointF(intersection2.X + (float)(targetDirection.X * 100), intersection2.Y + (float)(targetDirection.Y * 100));
PointF i4 = new PointF(intersection2.X + (float)(targetDirection.X * -100), intersection2.Y + (float)(targetDirection.Y * -100));
PointF i5 = new PointF(intersection3.X + (float)(targetDirection.X * 100), intersection3.Y + (float)(targetDirection.Y * 100));
PointF i6 = new PointF(intersection3.X + (float)(targetDirection.X * -100), intersection3.Y + (float)(targetDirection.Y * -100));
PointF bodyI1 = MathExtension.PolygonLineIntersectionPoint(intersection, i1, mouseContour);
PointF bodyI2 = MathExtension.PolygonLineIntersectionPoint(intersection, i2, mouseContour);
PointF bodyI3 = MathExtension.PolygonLineIntersectionPoint(intersection2, i3, mouseContour);
PointF bodyI4 = MathExtension.PolygonLineIntersectionPoint(intersection2, i4, mouseContour);
PointF bodyI5 = MathExtension.PolygonLineIntersectionPoint(intersection3, i5, mouseContour);
PointF bodyI6 = MathExtension.PolygonLineIntersectionPoint(intersection3, i6, mouseContour);
//drawImage.Draw(new CircleF(bodyI1, 4), new Bgr(Color.Red), 3);
//drawImage.Draw(new CircleF(bodyI2, 4), new Bgr(Color.Red), 3);
//drawImage.Draw(new CircleF(bodyI3, 4), new Bgr(Color.Red), 3);
//drawImage.Draw(new CircleF(bodyI4, 4), new Bgr(Color.Red), 3);
//drawImage.Draw(new CircleF(bodyI5, 4), new Bgr(Color.Red), 3);
//drawImage.Draw(new CircleF(bodyI6, 4), new Bgr(Color.Red), 3);
//drawImage.Draw(new LineSegment2DF(bodyI3, bodyI4), new Bgr(Color.Yellow), 3);
//drawImage.Draw(new LineSegment2DF(bodyI5, bodyI6), new Bgr(Color.Red), 3);
drawImage.Draw(new LineSegment2DF(bodyI1, bodyI2), new Bgr(Color.MediumPurple), 3);
//drawImage.Draw(new LineSegment2DF(bodyI3, bodyI4), new Bgr(Color.MediumPurple), 3);
waistLength = bodyI1.Distance(bodyI2);
//Console.WriteLine("Waist Length = " + waistLength);
//List<Point> tempBodyPoints = new List<Point>();
//double r1BodyStartToTail = r1BodyStart.DistanceSquared(alternateSegment1[0]);
//double r1BodyEndToTail = r1BodyEnd.DistanceSquared(alternateSegment1[0]);
//bool startCloser = r1BodyStartToTail < r1BodyEndToTail;
//if (!r1BodyStart.IsEmpty && !r1BodyEnd.IsEmpty)
//{
// //Find segment from mouse contour
// Point[] bodySegment = MathExtension.GetSegmentOfPolygon(mouseContour, r1BodyStart, r1BodyEnd);
// //tempBodyPoints.AddRange(bodySegment);
// ////PointF midPoint = r1BodyStart.MidPoint(r1BodyEnd);
// //Point[] newBodySegment;
// //if (startCloser)
// //{
// // newBodySegment = MathExtension.GetSegmentOfPolygon(mouseContour, bodyI3, bodyI5);
// //}
// //else
// //{
// // newBodySegment = MathExtension.GetSegmentOfPolygon(mouseContour, bodyI5, bodyI3);
// //}
// //tempBodyPoints.AddRange(newBodySegment);
// //for (int i = 1; i < bodySegment.Length; i++)
// //{
// // LineSegment2D line = new LineSegment2D(bodySegment[i - 1], bodySegment[i]);
// // drawImage.Draw(line, new Bgr(Color.Cyan), 2);
// //}
//}
//if (!r2BodyStart.IsEmpty && !r2BodyEnd.IsEmpty)
//{
// //Find segment from mouse contour
// Point[] bodySegment = MathExtension.GetSegmentOfPolygon(mouseContour, r2BodyStart, r2BodyEnd);
// //tempBodyPoints.AddRange(bodySegment.Reverse());
// ////PointF midPoint = r2BodyStart.MidPoint(r2BodyEnd);
// //Point[] newBodySegment;
// //if (startCloser)
// //{
// // newBodySegment = MathExtension.GetSegmentOfPolygon(mouseContour, bodyI4, bodyI6);
// //}
// //else
// //{
// // newBodySegment = MathExtension.GetSegmentOfPolygon(mouseContour, bodyI6, bodyI4);
// //}
// //tempBodyPoints.AddRange(newBodySegment.Reverse());
// //for (int i = 1; i < bodySegment.Length; i++)
// //{
// // LineSegment2D line = new LineSegment2D(bodySegment[i - 1], bodySegment[i]);
// // drawImage.Draw(line, new Bgr(Color.Cyan), 2);
// //}
//}
Point[] bodySegment3 = MathExtension.GetSegmentOfPolygon(mouseContour, r1BodyStart, r1BodyEnd);
Point[] bodySegment4 = MathExtension.GetSegmentOfPolygon(mouseContour, r2BodyStart, r2BodyEnd);
var bodyPoints2 = new List <Point>(bodySegment3.Concat(bodySegment4.Reverse()));
PointF[] bodyPoints2F = bodyPoints2.Select(x => x.ToPointF()).ToArray();
Point[] squareBodyPoints = new Point[] { bodyI3.ToPoint(), bodyI4.ToPoint(), bodyI6.ToPoint(), bodyI5.ToPoint() };
//PointF[] tempBodyPointsF = tempBodyPoints.Select(x => x.ToPointF()).ToArray();
if (bodyPoints2F != null && bodyPoints2F.Length > 0)
{
var rect1 = CvInvoke.MinAreaRect(bodyPoints2F);
rect1.Angle += 90;
//CvInvoke.Ellipse(drawImage, rect1, new MCvScalar(0, 0, 255), 3);
}
pelvicArea = -1;
pelvicArea2 = -1;
if (squareBodyPoints != null && squareBodyPoints.Length > 0)
{
var rect2 = CvInvoke.MinAreaRect(squareBodyPoints.Select(x => x.ToPointF()).ToArray());
rect2.Angle += 90;
//CvInvoke.Ellipse(drawImage, rect2, new MCvScalar(0, 255, 255), 3);
pelvicArea = MathExtension.PolygonArea(squareBodyPoints);
//Console.WriteLine("Pelvic Area tail: " + pelvicArea + " - " + (rect2.Size.Height * rect2.Size.Width));
pelvicArea2 = rect2.Size.Height * rect2.Size.Width;
}
//Ellipse fittedEllipse = PointCollection.EllipseLeastSquareFitting(bodyPoints2F);
//CvInvoke.Ellipse(drawImage, fittedEllipse.RotatedRect, new MCvScalar(0, 0, 255), 3);
//fittedEllipse = PointCollection.EllipseLeastSquareFitting(tempBodyPointsF);
//CvInvoke.Ellipse(drawImage, fittedEllipse.RotatedRect, new MCvScalar(0, 0, 255), 3);
//drawImage.DrawPolyline(rect1.GetVertices().Select(x => x.ToPoint()).ToArray(), true, new Bgr(Color.Orange), 4);
//drawImage.DrawPolyline(rect2.GetVertices().Select(x => x.ToPoint()).ToArray(), true, new Bgr(Color.Orange), 4);
//drawImage.DrawPolyline(fittedEllipse.RotatedRect.GetVertices().Select(x => x.ToPoint()).ToArray(), true, new Bgr(Color.Cyan), 4);
bodyPoints = bodyPoints2;
//pelvicArea = MathExtension.PolygonArea(squareBodyPoints);
//bodyPoints = new List<Point>(new Point[] { bodyI3.ToPoint(), bodyI4.ToPoint(), bodyI6.ToPoint(), bodyI5.ToPoint() });
//bodyPoints = tempBodyPoints;
//StringBuilder s1 = new StringBuilder();
//StringBuilder s2 = new StringBuilder();
//foreach (double dist in r1Distances)
//{
// s1.Append(dist + ",");
//}
//foreach (double dist in r2Distances)
//{
// s2.Append(dist + ",");
//}
//System.IO.File.WriteAllText(@"D:\PhD\r1test.txt", s1.ToString());
//System.IO.File.WriteAllText(@"D:\PhD\r2test.txt", s2.ToString());
}