public void HandleNewClick(Vector2 clickPoint)
{
/// Currently
PolyPoint nextPoint = null;
bool invalidPoint = false;
bool snapped = TrySnap(clickPoint, out nextPoint, out invalidPoint); // Try to found if the player clicked on an existing point;
if (invalidPoint)
{
return;
}
if (_pointList.Count > 0)
{
if (snapped == true && nextPoint == _pointList[0])
{
TryClosePolygon(nextPoint);
}
else
{
TryAddNewSegment(nextPoint, snapped);
}
}
else
{
// this is the first point we draw, we don't need to check any intersections
_pointList.Add(nextPoint);
UpdateLinePositions(new Vector3(nextPoint.X, nextPoint.Y, Polygon.LINE_Z_OFFSET));
}
}
/// <summary>
/// Test if the segment sent as parameter intersects with another one
/// </summary>
/// <param name="a">Start point of the new segment</param>
/// <param name="b">End point of the new segment</param>
/// <returns>resturns true if an intersection was found, returns false otherwise</returns>
private bool IsNewIntersection(PolyPoint a, PolyPoint b)
{
//Check if the new point doesn't create a intersecting segment, we don't test the last segment because is is always has at least a point in common
for (int i = 0; i < _segmentList.Count - 1; i++)
{
PolySegment seg = _segmentList[i];
if (seg.IsInterecting(a.asVector2, b.asVector2))
{
// An intersection was detected
Debug.LogWarning("Cannot create this new segment, it would intersect with segment : " + seg.ID);
return(true);
}
}
//Check for segments from existing polygons
foreach (Polygon polygon in _cadastre.Polygons)
{
foreach (PolySegment seg in polygon.Segments)
{
if (seg.IsInterecting(a.asVector2, b.asVector2))
{
// An intersection was detected
Debug.LogWarning("Cannot create this new segment, it would intersect with segment : " + seg.ID);
return(true);
}
}
}
// No intersection was detected
return(false);
}
private void TryClosePolygon(PolyPoint nextPoint)
{
// Did we draw at least 3 point ?
if (_pointList.Count >= 3)
{
// Check if the new segment we're drawing will intersect with another one
if (IsNewIntersection(GetPreviousPoint(), nextPoint) == false)
{
//No intersection was detected, we can create this segment and close the polygon
PolySegment newSeg = new PolySegment(GetPreviousPoint(), nextPoint);
_segmentList.Add(newSeg);
UpdateLinePositions(new Vector3(nextPoint.X, nextPoint.Y, Polygon.LINE_Z_OFFSET)); // Add the last line position
//Debug.Log("CLOSING POLY : " + _linePositionList.Count);
ClosePolygon();
}
else
{
Debug.Log("Cannot close the polygon from this point, it would overlap with anoter one");
}
}
else
{
Debug.Log("You are trying to close this polygon, but it doesn't have enough points");
}
}
private static PolyPoint[] ReadPolyPoints([NotNull] string[] lines, ref int index)
{
index += 2;
var polyCount = lines[index++].ConvInt32(15);
if (polyCount == 0)
{
return(null);
}
var result = new PolyPoint[polyCount];
for (var i = 0; i < polyCount; ++i)
{
index += 2;
var subtick = lines[index++].ConvInt32(20);
var posx = lines[index++].ConvSingle(19);
result[i] = new PolyPoint {
subtick = subtick,
posx = posx
};
}
return(result);
}
private IEnumerable <ValidationResult> Validate(ValidationContext validationContext, ActionDBTypeEnum actionDBType)
{
string retStr = "";
Enums enums = new Enums(LanguageRequest);
PolyPoint polyPoint = validationContext.ObjectInstance as PolyPoint;
polyPoint.HasErrors = false;
if (polyPoint.XCoord < -180 || polyPoint.XCoord > 180)
{
polyPoint.HasErrors = true;
yield return(new ValidationResult(string.Format(CSSPServicesRes._ValueShouldBeBetween_And_, "XCoord", "-180", "180"), new[] { "XCoord" }));
}
if (polyPoint.YCoord < -90 || polyPoint.YCoord > 90)
{
polyPoint.HasErrors = true;
yield return(new ValidationResult(string.Format(CSSPServicesRes._ValueShouldBeBetween_And_, "YCoord", "-90", "90"), new[] { "YCoord" }));
}
//Z has no Range Attribute
retStr = ""; // added to stop compiling CSSPError
if (retStr != "") // will never be true
{
polyPoint.HasErrors = true;
yield return(new ValidationResult("AAA", new[] { "AAA" }));
}
}
public void Deserialize(string s)
{
string[] strs = s.Split('/');
int index = 0;
Deserialize(strs, ref index);
if (index < strs.Length)
{
if (strs[index] == "L")
{
index++;
LeftCurve = new PolyPoint();
LeftCurve.Deserialize(strs, ref index);
}
if (index < strs.Length)
{
if (strs[index] == "R")
{
index++;
RightCurve = new PolyPoint();
RightCurve.Deserialize(strs, ref index);
}
}
}
}
/// <summary>
/// Insert point to desired place of polyline
/// recalculateBounds();
/// Method is slow do not use this
/// </summary>
/// <param name="index">Index of place from zero to count</param>
/// <param name="localX">local x - relative to left-top point</param>
/// <param name="localY">local y - relative to left-top point</param>
/// <param name="pointType">deprecated</param>
protected PolyPoint insertPoint(int index, float localX, float localY, byte pointType)
{
PolyPoint result;
pointsCollection.Insert(index, result = new PolyPoint(localX, localY));
RecalculateBounds();
return(result);
}
/// <summary>
/// Add point to end of polyline, need to recalculate bounds after add
/// First point must have zero coordinate and zero type.
/// Recalculate bounds.
/// Method is slow do not use this.
/// </summary>
/// <param name="localX">local x - relative to left-top point</param>
/// <param name="localY">local y - relative to left-top point</param>
/// <param name="pointType">depreceted</param>
protected PolyPoint addPoint(float localX, float localY, byte pointType)
{
PolyPoint result;
pointsCollection.Add(result = new PolyPoint(localX, localY));
RecalculateBounds();
return(result);
}
public PolySegment(PolyPoint a, PolyPoint b)
{
_a = a;
_b = b;
_id = _currentID;
_currentID++;
//Debug.Log("Created segment " + _id + " with points " + _a.ID + " and " + _b.ID);
}
public override void MouseDown(int xPos, int yPos)
{
PolyPoint p = editorForm.SelectPoint(xPos, yPos);
point = p;
if (p != null)
{
curX = xPos;
curY = yPos;
}
}
/// <summary>
/// Check if the mouse click was close enough to an existing point to assume that the player was clicking on it.
/// We can only snap to an existing point of the cadastre and to the first one of the polygon we are currently drawing.
/// </summary>
/// <param name="hit">The clicked position</param>
/// <param name="result">Either returns and existing point, or an new intialized PolyPoint</param>
/// <returns></returns>
private bool TrySnap(Vector2 hit, out PolyPoint result, out bool invalidPoint)
{
result = null;
invalidPoint = false;
float dist;
if (_pointList.Count > 0)
{
// Try to snap the first of the polygon we are drawing
dist = Vector2.Distance(hit, _pointList[0].asVector2);
if (dist < Cadastre.SNAP_DISTANCE)
{
//Debug.Log("Snapping to first point, trying to close polygon");
result = _pointList[0];
return(true);
}
else if (_pointList.Count > 1) // Just a protection, for the case where the player clicks too close from an invalid point
{
// We check all the points from the currently drawn polygon
for (int i = 1; i < _pointList.Count; i++)
{
dist = Vector2.Distance(hit, _pointList[i].asVector2);
if (dist < Cadastre.SNAP_DISTANCE)
{
Debug.Log("This point is invalid : non-closing point of the currently drawn polygon");
result = _pointList[i];
invalidPoint = true;
return(true);
}
}
}
}
// Try to snap to existing points of the cadastre's polygons
foreach (Polygon polygon in _cadastre.Polygons)
{
foreach (PolyPoint existingPoint in polygon.Points)
{
dist = Vector2.Distance(hit, existingPoint.asVector2);
if (dist < Cadastre.SNAP_DISTANCE)
{
//Debug.Log("Existing point found, snapping to point " + existingPoint.ID);
result = existingPoint;
return(true);
}
}
}
result = _pointsPool.GetFromQueue();
result.InitPoint(hit);
return(false);
}
private PolyPoint GetPseudoPoint(PolyPoint start, PolyPoint end)
{
float vecX = end.X - start.X;
float vecY = end.Y - start.Y;
float distance = (float)Math.Sqrt(vecX * vecX + vecY * vecY);
vecX = vecX / 3;
vecY = vecY / 3;
return(new PolyPoint(start.X + vecX, start.Y + vecY));
}
/* three doubly linked lists (points list,reflective points list, ears list) are
* maintained in the "PolyPointList" array points list is a cyclic list while other
* two aren't 0 index of the Point list is kept only for entering the lists -1 means undefined link */
private void FillPolyPoints()
{
PolyPoint p = new PolyPoint()
{
NextP = 1, PrevP = -1, NextEar = -1, PrevEar = -1, NextRefL = -1, PrevRefL = -1, isEar = false
};
polyPoints[0] = p;
int reflective = -1;
int convex = -1;
for (int i = 1; i <= pointsCount; i++)
{
polyPoints[i] = p;
polyPoints[i].PrevP = i == 1 ? pointsCount : i - 1;
polyPoints[i].NextP = i % pointsCount + 1;
if (IsReflective(i))
{
polyPoints[i].PrevRefL = reflective;
polyPoints[reflective == -1 ? 0 : reflective].NextRefL = i;
reflective = i;
polyPoints[i].NextRefL = -1;
polyPoints[i].PrevEar = -1;
polyPoints[i].NextEar = -1;
}
else
{
polyPoints[i].PrevRefL = -1;
polyPoints[i].NextRefL = -1;
polyPoints[i].isEar = true;
polyPoints[i].PrevEar = convex;
polyPoints[convex == -1 ? 0 : convex].NextEar = i;
convex = i;
polyPoints[i].NextEar = -1;
}
}
int con = polyPoints[0].NextEar;
while (con != -1)
{
if (!IsCleanEar(con))
{
RemoveEar(con);
}
con = polyPoints[con].NextEar;
}
}
internal PolyPoint Clone()
{
PolyPoint result = new PolyPoint(x, y);
if (LeftCurve != null)
{
result.LeftCurve = LeftCurve.Clone();
}
if (RightCurve != null)
{
result.RightCurve = RightCurve.Clone();
}
return(result);
}
public override void MouseDrag(int xPos, int yPos)
{
if (selectedPolygon != null)
{
PolyPoint point = selectedPolygon.First;
do
{
point.X += xPos - curX;
point.Y += yPos - curY;
point = point.Next;
} while (point != selectedPolygon.First);
curX = xPos;
curY = yPos;
editorForm.Redraw();
}
}
private PolyPoint GetFilledRandomPolyPoint(string OmitPropName)
{
PolyPoint polyPoint = new PolyPoint();
if (OmitPropName != "XCoord")
{
polyPoint.XCoord = GetRandomDouble(-180.0D, 180.0D);
}
if (OmitPropName != "YCoord")
{
polyPoint.YCoord = GetRandomDouble(-90.0D, 90.0D);
}
// should implement a Range for the property Z and type PolyPoint
return(polyPoint);
}
/// <summary>
/// Tests if the middle of the segment is inside of an existing polygon.
/// </summary>
/// <param name="a"> Start point of the segment</param>
/// <param name="b">End point of the segment</param>
/// <returns>True if the segment is inside an existing polygon</returns>
private bool IsInsideExistingPoly(PolyPoint a, PolyPoint b)
{
float middleX = (a.X + b.X) / 2.0f;
float middleY = (a.Y + b.Y) / 2.0f;
Vector2 middlePoint = new Vector2(middleX, middleY);
Polygon poly;
if (_cadastre.IsPointInsideExistingPolygon(middlePoint, out poly))
{
return(true);
}
else
{
return(false);
}
}
public override void MouseDown(int xPos, int yPos)
{
PolyPoint point = editorForm.SelectPoint(xPos, yPos);
if (point != null)
{
if (!point.Remove())
{
System.Windows.Forms.MessageBox.Show(
"Wielokąt musi składać się z co najmniej 3 wierzchołków",
"Nie udało się usunąć punktu",
System.Windows.Forms.MessageBoxButtons.OK, System.Windows.Forms.MessageBoxIcon.Error);
}
else
{
editorForm.Redraw();
}
}
}
//mode 'o' for P outside Q, mode 'i' for P inside Q
static List <PolyPoint> BuildClipPoly(PolyPoint start, List <PolyPoint> P, List <PolyPoint> Q, char mode)
{
List <PolyPoint> poly = new List <PolyPoint>();
int i = start.ip;
PolyPoint curr = start;
List <PolyPoint> currList = P;
int loopCount = 0;
int loopMax = P.Count + Q.Count + 2;
do
{
curr.visited = true;
poly.Add(curr);
bool inter = curr.isIntersection;
bool n = curr.inbound;
bool p = currList == P;
bool o = mode == 'o';
if (!o && (!inter && !p || inter && !n)) //Determine the next node to visit
{
i = (curr.iq + 1) % Q.Count;
currList = Q;
}
else if (o && (!inter && !p || inter && n))
{
i = (curr.iq + Q.Count - 1) % Q.Count;
currList = Q;
}
else
{
i = (curr.ip + 1) % P.Count;
currList = P;
}
++loopCount;
curr = currList[i];
} while (curr != start && loopCount < loopMax);
return(poly);
}
/// <inheritdoc/>
public override void Deserialize(FRReader reader)
{
base.Deserialize(reader);
pointsCollection.Clear();
if (reader.HasProperty("PolyPoints"))
{
string polyPoints = reader.ReadStr("PolyPoints");
foreach (string str in polyPoints.Split('|'))
{
string[] point = str.Split('\\');
if (point.Length == 3)
{
float f1 = float.Parse(point[0].Replace(',', '.'), CultureInfo.InvariantCulture);
float f2 = float.Parse(point[1].Replace(',', '.'), CultureInfo.InvariantCulture);
pointsCollection.Add(new PolyPoint(f1, f2));
}
}
}
else if (reader.HasProperty("PolyPoints_v2"))
{
string polyPoints = reader.ReadStr("PolyPoints_v2");
foreach (string str in polyPoints.Split('|'))
{
PolyPoint point = new PolyPoint();
point.Deserialize(str);
pointsCollection.Add(point);
}
}
if (reader.HasProperty("CenterX"))
{
center.X = reader.ReadFloat("CenterX");
}
if (reader.HasProperty("CenterY"))
{
center.Y = reader.ReadFloat("CenterY");
}
//recalculateBounds();
}
private void TryAddNewSegment(PolyPoint nextPoint, bool snapped)
{
// Get the previous point we drew
PolyPoint previousPoint = _pointList[_pointList.Count - 1];
// Check if the new segment we're drawing will intersect with another one
if (IsNewIntersection(previousPoint, nextPoint) || IsInsideExistingPoly(previousPoint, nextPoint))
{
// An intersection was found, if this point isn't used elsewhere, send it back to the pool
if (snapped == false) // If we snapped on this point it means it is used by another polygon
{
_pointsPool.AddToPool(nextPoint);
}
}
else
{
//No intersection was detected, we can create this segment and add this point to our temporary list
PolySegment newSeg = new PolySegment(previousPoint, nextPoint);
_pointList.Add(nextPoint);
_segmentList.Add(newSeg);
UpdateLinePositions(new Vector3(nextPoint.X, nextPoint.Y, Polygon.LINE_Z_OFFSET));
}
}
private void BuildRectPath()
{
if (!_build)
{
return;
}
// Get center position
double lat_home = _lat;
double lon_home = _lon;
double lat_center = _lat;
double lon_center = _lon;
string path_name = txtRectPathName.Text;
/*
* int poi_count = _wpg.POICount();
* POIPoints tmp_point;
* for (int i = 0; i < poi_count; i++)
* {
* tmp_point = _wpg.POIPointAt(i);
* string name = tmp_point.name;
* if (home_name == name)
* {
*
* lat_home = tmp_point.lat;
* lon_home = tmp_point.lon;
* }
* }
*/
double lat_camera;
double lon_camera;
LinkedList <WayPoints> new_list = new LinkedList <WayPoints>();
// Get Values from input Boxes
_video = radioVideo.Checked;
bool OnePass = chkOnePass.Checked;
bool startend = chkRectHome.Checked;
bool camerapoi = chkRectCamPOI.Checked;
int poi_count;
if (camerapoi)
{
string poi_name = cmbRectCamPOI.GetItemText(cmbRectCamPOI.SelectedItem);
poi_count = _wpg.POICount();
for (int i = 0; i < poi_count; i++)
{
POIPoints tmp_point = _wpg.POIPointAt(i);
string name = tmp_point.name;
if (poi_name == name)
{
lat_camera = tmp_point.lat;
lon_camera = tmp_point.lon;
}
}
}
double box_width = Convert.ToDouble(txtGridLength.Text);
double box_height = Convert.ToDouble(txtGridWidth.Text);
double altitude = Convert.ToDouble(txtPathAlt.Text);
_camera_width = (2 * (Math.Tan(GPS.DegreesToRadians(_camera_angle_hor / 2)) * altitude));
_camera_height = (2 * (Math.Tan(GPS.DegreesToRadians(_camera_angle_ver / 2)) * altitude));
if (!Form1.Globals.UnitsMetric)
{
box_width = FeetToMeters(box_width);
box_height = FeetToMeters(box_height);
_camera_width = FeetToMeters(_camera_width);
_camera_height = FeetToMeters(_camera_height);
}
//double box_rotate = Convert.ToDouble(txtGridRotation.Text);
double box_rotate = Convert.ToDouble(txtGridRotation.Text) - 90.0;
//double box_rotate = 0.0;
double hor_overlap = _overlap_width / 100;
double ver_overlap = _overlap_height / 100;
double gps_radius = Form1.Globals.gps_radius;
int[,] actions = new int[, ] {
{ 0, 2000 }, { 1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }
};
int[,] no_actions = new int[, ] {
{ -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }, { -1, 0 }
};
/* Start Calculating */
double diagonal_length = Math.Sqrt((box_width / 2) * (box_width / 2) + (box_height / 2) * (box_height / 2));
double diagonal_angle = GPS.RadiansToDegrees(Math.Atan((box_width / 2) / (box_height / 2)));
/* Calculate Top, Bottom, Left & Right Center Positions */
double lat_top;
double lon_top;
double lat_bottom;
double lon_bottom;
double lat_left;
double lon_left;
double lat_right;
double lon_right;
lat_top = GPS.GPS_Lat_BearDist(lat_center, lon_center, 0, box_height / 2, gps_radius);
lon_top = GPS.GPS_Lon_BearDist(lat_center, lon_center, lat_top, 0, box_height / 2, gps_radius);
lat_bottom = GPS.GPS_Lat_BearDist(lat_center, lon_center, 180, box_height / 2, gps_radius);
lon_bottom = GPS.GPS_Lon_BearDist(lat_center, lon_center, lat_bottom, 180, box_height / 2, gps_radius);
lat_left = GPS.GPS_Lat_BearDist(lat_center, lon_center, 270, box_width / 2, gps_radius);
lon_left = GPS.GPS_Lon_BearDist(lat_center, lon_center, lat_left, 270, box_width / 2, gps_radius);
lat_right = GPS.GPS_Lat_BearDist(lat_center, lon_center, 90, box_width / 2, gps_radius);
lon_right = GPS.GPS_Lon_BearDist(lat_center, lon_center, lat_right, 90, box_width / 2, gps_radius);
/* Calculate 4 corner locations */
double lat_top_left;
double lon_top_left;
double lat_bottom_left;
double lon_bottom_left;
double lat_top_right;
double lon_top_right;
double lat_bottom_right;
double lon_bottom_right;
double[,] polypnt = new double[4, 2];
lat_top_left = GPS.GPS_Lat_BearDist(lat_center, lon_center, -diagonal_angle, diagonal_length, gps_radius);
lon_top_left = GPS.GPS_Lon_BearDist(lat_center, lon_center, lat_top, -diagonal_angle, diagonal_length, gps_radius);
polypnt[0, 0] = lat_top_left;
polypnt[0, 1] = lon_top_left;
lat_top_right = GPS.GPS_Lat_BearDist(lat_center, lon_center, diagonal_angle, diagonal_length, gps_radius);
lon_top_right = GPS.GPS_Lon_BearDist(lat_center, lon_center, lat_top, diagonal_angle, diagonal_length, gps_radius);
polypnt[1, 0] = lat_top_right;
polypnt[1, 1] = lon_top_right;
lat_bottom_right = GPS.GPS_Lat_BearDist(lat_center, lon_center, 180 - diagonal_angle, diagonal_length, gps_radius);
lon_bottom_right = GPS.GPS_Lon_BearDist(lat_center, lon_center, lat_top, 180 - diagonal_angle, diagonal_length, gps_radius);
polypnt[2, 0] = lat_bottom_right;
polypnt[2, 1] = lon_bottom_right;
lat_bottom_left = GPS.GPS_Lat_BearDist(lat_center, lon_center, 180 + diagonal_angle, diagonal_length, gps_radius);
lon_bottom_left = GPS.GPS_Lon_BearDist(lat_center, lon_center, lat_top, 180 + diagonal_angle, diagonal_length, gps_radius);
polypnt[3, 0] = lat_bottom_left;
polypnt[3, 1] = lon_bottom_left;
// Rotate Points
double new_lat, new_lon;
for (int i = 0; i < 4; i++)
{
double rot_bearing = GPS.GPS_Bearing(lat_center, lon_center, polypnt[i, 0], polypnt[i, 1]);
double rot_distance = GPS.GPS_Distance(lat_center, lon_center, polypnt[i, 0], polypnt[i, 1], gps_radius);
// Calculate a new location by increasing the bearing
new_lat = GPS.GPS_Lat_BearDist(lat_center, lon_center, rot_bearing + box_rotate, rot_distance, gps_radius);
new_lon = GPS.GPS_Lon_BearDist(lat_center, lon_center, new_lat, rot_bearing + box_rotate, rot_distance, gps_radius);
polypnt[i, 0] = new_lat;
polypnt[i, 1] = new_lon;
}
// Generate Rectangle Polygon
_poly.name = "temp";
_poly.visible = true;
LinkedList <PolyPoint> shape_points = new LinkedList <PolyPoint>();
for (int i = 0; i <= 3; i++)
{
PolyPoint newpnt = new PolyPoint();
newpnt.lat = polypnt[i, 0];
newpnt.lon = polypnt[i, 1];
newpnt.alt = 10;
shape_points.AddLast(newpnt);
}
PolyPoint pnt = new PolyPoint();
pnt.lat = polypnt[0, 0];
pnt.lon = polypnt[0, 1];
pnt.alt = 10;
shape_points.AddLast(pnt);
_poly.points = shape_points;
// Get Direction Flags
double drone_heading = 90.0;
int ver_dir_flag = 1;
if (radioUpLeft.Checked)
{
ver_dir_flag = 1;
}
if (radioUpRight.Checked)
{
ver_dir_flag = 1; drone_heading = 270;
}
if (radioLowLeft.Checked)
{
ver_dir_flag = -1;
}
if (radioLowRight.Checked)
{
ver_dir_flag = -1; drone_heading = 270;
}
// Grid Calculations
double lat_next;
double next_lon_start;
double next_lon_end;
double lon_tmp;
double row_increment = _camera_width * (1.0 - hor_overlap);
int num_rows = Convert.ToInt16(box_height / row_increment);
box_rotate = 0.0;
// Create Waypoints
int gimblemode = 2;
double gimblepitch = -90.0;
double curvesize = 0;
double rotdir = 0;
if (OnePass | num_rows == 1)
{
if (startend)
{
_wp.Add_Waypoint_List(new_list, lat_home, lon_home, altitude, drone_heading, curvesize, rotdir, gimblemode, gimblepitch, no_actions);
}
if (radioUpLeft.Checked | radioLowLeft.Checked)
{
_wp.Add_Leg_List(new_list, lat_left, lon_left, lat_right, lon_right,
altitude, drone_heading, curvesize, rotdir, gimblemode, gimblepitch, actions, _video, _camera_height, _overlap_height);
}
else
{
_wp.Add_Leg_List(new_list, lat_right, lon_right, lat_left, lon_left,
altitude, drone_heading, curvesize, rotdir, gimblemode, gimblepitch, actions, _video, _camera_height, _overlap_height);
}
if (startend)
{
_wp.Add_Waypoint_List(new_list, lat_home, lon_home, altitude, drone_heading, curvesize, rotdir, gimblemode, gimblepitch, no_actions);
}
}
else
{
/* More than one row */
if (num_rows == 2)
{
double offset = row_increment;
double diagonal_length_2 = Math.Sqrt((box_width / 2) * (box_width / 2) + (offset / 2) * (offset / 2));
double diagonal_angle_2 = GPS.RadiansToDegrees(Math.Atan((box_width / 2) / (offset / 2)));
lat_top_left = GPS.GPS_Lat_BearDist(lat_center, lon_center, -diagonal_angle_2 + box_rotate, diagonal_length_2, gps_radius);
lon_top_left = GPS.GPS_Lon_BearDist(lat_center, lon_center, lat_top, -diagonal_angle_2 + box_rotate, diagonal_length_2, gps_radius);
lat_top_right = GPS.GPS_Lat_BearDist(lat_center, lon_center, diagonal_angle_2 + box_rotate, diagonal_length_2, gps_radius);
lon_top_right = GPS.GPS_Lon_BearDist(lat_center, lon_center, lat_top, diagonal_angle_2 + box_rotate, diagonal_length_2, gps_radius);
lat_bottom_left = GPS.GPS_Lat_BearDist(lat_center, lon_center, 180 + diagonal_angle_2 + box_rotate, diagonal_length_2, gps_radius);
lon_bottom_left = GPS.GPS_Lon_BearDist(lat_center, lon_center, lat_top, 180 + diagonal_angle_2 + box_rotate, diagonal_length_2, gps_radius);
lat_bottom_right = GPS.GPS_Lat_BearDist(lat_center, lon_center, 180 - diagonal_angle_2 + box_rotate, diagonal_length_2, gps_radius);
lon_bottom_right = GPS.GPS_Lon_BearDist(lat_center, lon_center, lat_top, 180 - diagonal_angle_2 + box_rotate, diagonal_length_2, gps_radius);
if (startend)
{
_wp.Add_Waypoint_List(new_list, lat_home, lon_home, altitude, drone_heading, curvesize, rotdir, gimblemode, gimblepitch, no_actions);
}
if (radioLowLeft.Checked)
{
_wp.Add_Leg_List(new_list, lat_bottom_left, lon_bottom_left, lat_bottom_right, lon_bottom_right,
altitude, drone_heading, curvesize, rotdir, gimblemode, gimblepitch, actions, _video, _camera_height, _overlap_height);
_wp.Add_Leg_List(new_list, lat_top_right, lon_top_right, lat_top_left, lon_top_left,
altitude, drone_heading, curvesize, rotdir, gimblemode, gimblepitch, actions, _video, _camera_height, _overlap_height);
}
if (radioLowRight.Checked)
{
_wp.Add_Leg_List(new_list, lat_bottom_right, lon_bottom_right, lat_bottom_left, lon_bottom_left,
altitude, drone_heading, curvesize, rotdir, gimblemode, gimblepitch, actions, _video, _camera_height, _overlap_height);
_wp.Add_Leg_List(new_list, lat_top_left, lon_top_left, lat_top_right, lon_top_right,
altitude, drone_heading, curvesize, rotdir, gimblemode, gimblepitch, actions, _video, _camera_height, _overlap_height);
}
if (radioUpLeft.Checked)
{
_wp.Add_Leg_List(new_list, lat_top_left, lon_top_left, lat_top_right, lon_top_right,
altitude, drone_heading, curvesize, rotdir, gimblemode, gimblepitch, actions, _video, _camera_height, _overlap_height);
_wp.Add_Leg_List(new_list, lat_bottom_right, lon_bottom_right, lat_bottom_left, lon_bottom_left,
altitude, drone_heading, curvesize, rotdir, gimblemode, gimblepitch, actions, _video, _camera_height, _overlap_height);
}
if (radioUpRight.Checked)
{
_wp.Add_Leg_List(new_list, lat_top_right, lon_top_right, lat_top_left, lon_top_left,
altitude, drone_heading, curvesize, rotdir, gimblemode, gimblepitch, actions, _video, _camera_height, _overlap_height);
_wp.Add_Leg_List(new_list, lat_bottom_left, lon_bottom_left, lat_bottom_right, lon_bottom_right,
altitude, drone_heading, curvesize, rotdir, gimblemode, gimblepitch, actions, _video, _camera_height, _overlap_height);
}
if (startend)
{
_wp.Add_Waypoint_List(new_list, lat_home, lon_home, altitude, drone_heading, curvesize, rotdir, gimblemode, gimblepitch, no_actions);
}
}
else
{
/* More than 2 rows */
double row_span = (num_rows - 1) * row_increment;
lat_top = GPS.GPS_Lat_BearDist(lat_center, lon_center, 0 + box_rotate, row_span / 2, gps_radius);
lat_bottom = GPS.GPS_Lat_BearDist(lat_center, lon_center, 180 + box_rotate, row_span / 2, gps_radius);
double degrees_per_foot = (lat_top - lat_bottom) / row_span;
if (startend)
{
_wp.Add_Waypoint_List(new_list, lat_home, lon_home, altitude, drone_heading, curvesize, rotdir, gimblemode, gimblepitch, no_actions);
}
int row_count = 0;
next_lon_start = 0.0;
next_lon_end = 0.0;
double lat_current = 0.0;
do
{
/* First Row */
if (row_count == 0)
{
if (radioLowLeft.Checked)
{
_wp.Add_Leg_List(new_list, lat_bottom, lon_left, lat_bottom, lon_right,
altitude, drone_heading, curvesize, rotdir, gimblemode, gimblepitch, actions, _video, _camera_height, _overlap_height);
lat_current = lat_bottom;
next_lon_start = lon_right;
next_lon_end = lon_left;
}
if (radioLowRight.Checked)
{
_wp.Add_Leg_List(new_list, lat_bottom, lon_right, lat_bottom, lon_left,
altitude, drone_heading, curvesize, rotdir, gimblemode, gimblepitch, actions, _video, _camera_height, _overlap_height);
lat_current = lat_bottom;
next_lon_start = lon_left;
next_lon_end = lon_right;
}
if (radioUpLeft.Checked)
{
_wp.Add_Leg_List(new_list, lat_top, lon_left, lat_top, lon_right,
altitude, drone_heading, curvesize, rotdir, gimblemode, gimblepitch, actions, _video, _camera_height, _overlap_height);
lat_current = lat_top;
next_lon_start = lon_right;
next_lon_end = lon_left;
}
if (radioUpRight.Checked)
{
_wp.Add_Leg_List(new_list, lat_top, lon_right, lat_top, lon_left,
altitude, drone_heading, curvesize, rotdir, gimblemode, gimblepitch, actions, _video, _camera_height, _overlap_height);
lat_current = lat_top;
next_lon_start = lon_left;
next_lon_end = lon_right;
}
}
else
{
/* Output 2nd, 3rd, etc. */
//lat_current = Globals.waypoints[Globals.waypoint_count - 1, 0];
lat_next = lat_current + (-ver_dir_flag * (degrees_per_foot * row_increment));
_wp.Add_Leg_List(new_list, lat_next, next_lon_start, lat_next, next_lon_end,
altitude, drone_heading, curvesize, rotdir, gimblemode, gimblepitch, actions, _video, _camera_height, _overlap_height);
lon_tmp = next_lon_start;
next_lon_start = next_lon_end;
next_lon_end = lon_tmp;
lat_current = lat_next;
}
row_count++;
} while (row_count < num_rows);
if (startend)
{
_wp.Add_Waypoint_List(new_list, lat_home, lon_home, altitude, drone_heading, curvesize, rotdir, gimblemode, gimblepitch, no_actions);
}
}
}
// Rotate WayPoints about Center
int count = 0;
double lat, lon, alt, head, bearing, distance;
double lat_first = lat_center;
double lon_first = lon_center;
LinkedListNode <WayPoints> node = new_list.First;
//LinkedListNode<WayPoints> next_node = node.Next;
LinkedListNode <WayPoints> save_node;
//lat_first = node.Value.lat;
//lon_first = node.Value.lon;
//alt_first = node.Value.alt;
//head_first = node.Value.head;
while (node != null)
{
if (count != 0)
{
// Get Waypoint values
lat = node.Value.lat;
lon = node.Value.lon;
alt = node.Value.alt;
head = node.Value.head;
gimblemode = node.Value.gimblemode;
gimblepitch = node.Value.gimblepitch;
curvesize = node.Value.curvesize;
rotdir = node.Value.rotationdir;
actions = node.Value.actions;
box_rotate = Convert.ToDouble(txtGridRotation.Text) - 90.0;
// Calculate Bearing and distance from first waypoint
bearing = GPS.GPS_Bearing(lat_first, lon_first, lat, lon);
distance = GPS.GPS_Distance(lat_first, lon_first, lat, lon, gps_radius);
// Calculate a new location by increasing the bearing
new_lat = GPS.GPS_Lat_BearDist(lat_first, lon_first, bearing + box_rotate, distance, gps_radius);
new_lon = GPS.GPS_Lon_BearDist(lat_first, lon_first, new_lat, bearing + box_rotate, distance, gps_radius);
// Set new waypoint
WayPoints new_wp = new WayPoints();
new_wp.lat = new_lat;
new_wp.lon = new_lon;
new_wp.alt = alt;
new_wp.head = head + box_rotate;
new_wp.gimblemode = gimblemode;
new_wp.gimblepitch = gimblepitch;
new_wp.curvesize = curvesize;
new_wp.rotationdir = rotdir;
new_wp.actions = actions;
save_node = node;
new_list.AddBefore(node, new_wp);
node = node.Next;
new_list.Remove(save_node);
}
count++;
}
// Redo start and end points
if (startend)
{
WayPoints wp = new_list.First.Value;
new_list.RemoveFirst();
wp.lat = lat_home;
wp.lon = lon_home;
new_list.AddFirst(wp);
wp = new_list.Last.Value;
new_list.RemoveLast();
wp.lat = lat_home;
wp.lon = lon_home;
new_list.AddLast(wp);
}
// Save Path
if (_new_path & _first_pass)
{
path_name = txtRectPathName.Text;
if (path_name == "")
{
path_name = "Untitled - Rectangular";
}
_path.Add_Path(_wpg, _gmap, path_name, "Rectangular", new_list);
Path newpath = _wpg.PathAt(_wpg.PathCount() - 1);
_current_intid = newpath.internal_id;
_first_pass = false;
}
else
{
_wpg.ChangePathWPIntId(_current_intid, new_list);
//Models.Path path = _wpg.PathAt(_current_path_index);
//_gmap.Delete_gMapPath(path);
//_gmap.Add_gMapPath(path, false);
}
_gmap.ReDrawgMap();
_gmap.Add_gMapPoly(_poly, true);
}
public static void Clip2D(Vector3[] P, Vector3[] Q, out List <Vector3[]> Pi, out List <Vector3[]> Po)
{
P = Clockwise(P);
Q = Clockwise(Q);
int i, j;
bool[] pIn = new bool[P.Length];
List <Clip2DIntersection> intersections = new List <Clip2DIntersection>();
for (i = 0; i < P.Length; ++i)
{
for (j = 0; j < Q.Length; ++j)
{
int iN = (i + 1) % P.Length;
int jN = (j + 1) % Q.Length;
float interA = IntersectionScalar(P[i], P[iN] - P[i], Q[j], Q[jN] - Q[j]);
float interB = IntersectionScalar(Q[j], Q[jN] - Q[j], P[i], P[iN] - P[i]);
if (0 <= interA && interA <= 1 && 0 <= interB && interB <= 1)
{
bool outIn = Cross2(Q[jN] - Q[j], P[i] - Q[j]) >= 0 && Cross2(Q[jN] - Q[j], P[iN] - P[i]) < 0;
intersections.Add(new Clip2DIntersection(P[i] + (P[iN] - P[i]) * interA, i, j, outIn));
}
}
}
List <PolyPoint> Pann = new List <PolyPoint>(), Qann = new List <PolyPoint>(), interPoints = new List <PolyPoint>(); //P and Q annotated with intersections
for (i = 0; i < intersections.Count; ++i)
{
PolyPoint p = new PolyPoint(intersections[i].position);
p.inbound = intersections[i].inbound;
p.isIntersection = true;
interPoints.Add(p);
}
i = 0;
while (i < P.Length)
{
int iN = (i + 1) % P.Length;
PolyPoint p = new PolyPoint(P[i]);
p.ip = Pann.Count;
Pann.Add(p);
List <Clip2DIntersection> segInter = intersections.FindAll(x => x.ip == i);
segInter.Sort((x, y) => (int)Mathf.Sign(Vector3.Dot(P[iN] - P[i], x.position - P[i]) - Vector3.Dot(P[iN] - P[i], y.position - P[i])));
foreach (Clip2DIntersection inter in segInter)
{
PolyPoint interP = interPoints.Find(x => x.position == inter.position);
interP.ip = Pann.Count;
Pann.Add(interP);
}
++i;
}
i = 0;
while (i < Q.Length)
{
int iN = (i + 1) % Q.Length;
PolyPoint q = new PolyPoint(Q[i]);
q.iq = Qann.Count;
Qann.Add(q);
List <Clip2DIntersection> segInter = intersections.FindAll(x => x.iq == i);
segInter.Sort((x, y) => (int)Mathf.Sign(Vector3.Dot(Q[iN] - Q[i], x.position - Q[i]) - Vector3.Dot(Q[iN] - Q[i], y.position - Q[i])));
foreach (Clip2DIntersection inter in segInter)
{
PolyPoint interP = interPoints.Find(x => x.position == inter.position);
interP.iq = Qann.Count;
Qann.Add(interP);
}
++i;
}
Pi = new List <Vector3[]>();
Po = new List <Vector3[]>();
foreach (PolyPoint p in interPoints)
{
if (p.inbound && !p.visited)
{
List <PolyPoint> res = BuildClipPoly(p, Pann, Qann, 'i');
Pi.Add(new Vector3[res.Count]);
for (i = 0; i < res.Count; ++i)
{
Pi[Pi.Count - 1][i] = res[i].position;
}
}
}
foreach (PolyPoint p in interPoints)
{
p.visited = false;
}
foreach (PolyPoint p in interPoints)
{
if (p.inbound && !p.visited)
{
List <PolyPoint> res = BuildClipPoly(p, Pann, Qann, 'o');
Po.Add(new Vector3[res.Count]);
for (i = 0; i < res.Count; ++i)
{
Po[Po.Count - 1][i] = res[i].position;
}
}
}
}
public PolyPointTest()
{
polyPoint = new PolyPoint();
}
private void FillLists()
{
/*
* three doubly linked lists (points list,reflective points list, ears list) are
* maintained in the "PolyPointList" arry.
* points list is a cyclic list while other two arent.
* 0 index of the Point list is kept only for entering the lists
* -1 means undefined link
*/
PolyPoint p = new PolyPoint();
PolyPointList[0] = p;
PolyPointList[0].PointNext = 1;
PolyPointList[0].PointPrev = -1;
PolyPointList[0].EarNext = -1;
PolyPointList[0].EarPrev = -1;
PolyPointList[0].ReflNext = -1;
PolyPointList[0].ReflPrev = -1;
PolyPointList[0].isEar = false;
int T_Reflective = -1;
int T_Convex = -1;
for (int i = 1; i <= Pointcount; i++)
{
PolyPointList[i] = p;
if (i == 1)
{
PolyPointList[i].PointPrev = Pointcount;
}
else
{
PolyPointList[i].PointPrev = i - 1;
}
PolyPointList[i].PointNext = (i % Pointcount) + 1;
if (isReflective(i))
{
PolyPointList[i].ReflPrev = T_Reflective;
if (T_Reflective == -1)
{
PolyPointList[0].ReflNext = i;
}
else
{
PolyPointList[T_Reflective].ReflNext = i;
}
T_Reflective = i;
PolyPointList[i].ReflNext = -1;
PolyPointList[i].EarPrev = -1;
PolyPointList[i].EarNext = -1;
}
else
{
PolyPointList[i].ReflPrev = -1;
PolyPointList[i].ReflNext = -1;
PolyPointList[i].isEar = true;
PolyPointList[i].EarPrev = T_Convex;
if (T_Convex == -1)
{
PolyPointList[0].EarNext = i;
}
else
{
PolyPointList[T_Convex].EarNext = i;
}
T_Convex = i;
PolyPointList[i].EarNext = -1;
}
}
int Con = PolyPointList[0].EarNext;
while (Con != -1)
{
if (!isCleanEar(Con))
{
RemoveEar(Con);
}
Con = PolyPointList[Con].EarNext;
}
}
private void btnReadKMLPoly_Click(object sender, EventArgs e)
{
if (openFileDialog1.ShowDialog() == DialogResult.OK)
{
/* Get kml filename */
string kml_file = openFileDialog1.FileName;
if (kml_file.Contains(".kml"))
{
System.IO.TextReader stream = System.IO.File.OpenText(kml_file);
SharpKml.Engine.KmlFile file = KmlFile.Load(stream);
Kml _kml = file.Root as Kml;
SharpKml.Dom.Placemark[] tempPlaceMarks = new SharpKml.Dom.Placemark[1000];
SharpKml.Dom.Placemark tmp_placemark = new SharpKml.Dom.Placemark();
CoordinateCollection coordinates = new CoordinateCollection();
Form1.Globals.poly_point_count = 0;
if (_kml != null)
{
SharpKml.Base.Vector vector;
double lat;
double lon;
double alt;
string name = "";
foreach (var placemark in _kml.Flatten().OfType <SharpKml.Dom.Placemark>())
{
name = placemark.Name;
}
Models.Shape shape = new Models.Shape();
shape.name = name;
foreach (var linering in _kml.Flatten().OfType <LinearRing>())
{
coordinates = linering.Coordinates;
int num = coordinates.Count;
LinkedList <PolyPoint> shape_points = new LinkedList <PolyPoint>();
for (int i = 0; i < num; i++)
{
PolyPoint point = new PolyPoint();
vector = coordinates.ElementAt(i);
lat = vector.Latitude;
lon = vector.Longitude;
alt = (double)vector.Altitude;
point.lat = lat;
point.lon = lon;
point.alt = alt;
shape_points.AddLast(point);
//dgvWaypoints.Rows.Add(Globals.waypoint_count, Convert.ToString(lat), Convert.ToString(lon), Convert.ToString(30));
}
shape.points = shape_points;
shape.visible = true;
_wpg.AddShape(shape);
_gmap.Add_gMapPoly(shape, true);
}
}
}
GMAPTree.Update_GMapTree(_wpg, _treeview);
this.Close();
}
}
private static void ReadPolygons(BinaryReader reader, INode parent, ICollection<INode> container)
{
var groupCount = reader.ReadInt32();
for (var i = 0; i < groupCount; i++)
{
var polyGroup = new PolygonGroup {Name = reader.ReadString(), Parent = parent};
var polyCount = reader.ReadInt32();
polyGroup.Type = "PolygonGroup";
for (var j = 0; j < polyCount; j++)
{
var polygon = new Polygon {Name = reader.ReadString(), Parent = polyGroup};
var pointCount = reader.ReadInt32();
polygon.Type = "Polygon";
for (var k = 0; k < pointCount; k++)
{
var point = new PolyPoint(reader.ReadInt32(), reader.ReadInt32()) {Parent = polygon};
reader.ReadInt32(); // MappedX
reader.ReadInt32(); // MappedY
point.Type = "PolyPoint";
polygon.Children.Add(point);
}
if (polygon.Children.Count > Settings.Default.MaxVerts)
{
Debug.Assert(false, string.Format("{0} has more than {1} vets in group {2} in {3} image", polygon.Name,Settings.Default.MaxVerts, polyGroup.Name, parent.Name));
}
polyGroup.Children.Add(polygon);
}
container.Add(polyGroup);
}
}
public override void MouseUp(int xPos, int yPos)
{
point = null;
}
public bool Near(PolyPoint p)
{
return((p != null) && (Math.Abs(x - p.x) < 0.0001) && (Math.Abs(y - p.y) < 0.0001));
}
/// <summary>
/// Calculate GraphicsPath for draw to page
/// </summary>
/// <param name="pen">Pen for lines</param>
/// <param name="left">Left boundary</param>
/// <param name="top">Top boundary</param>
/// <param name="right">Right boundary</param>
/// <param name="bottom">Bottom boundary</param>
/// <param name="scaleX">scale by width</param>
/// <param name="scaleY">scale by height</param>
/// <returns>Always returns a non-empty path</returns>
public GraphicsPath GetPath(Pen pen, float left, float top, float right, float bottom, float scaleX, float scaleY)
{
if (pointsCollection.Count == 0)
{
GraphicsPath result = new GraphicsPath();
result.AddLine(left * scaleX, top * scaleX, (right + 1) * scaleX, (bottom + 1) * scaleX);
return(result);
}
else if (pointsCollection.Count == 1)
{
GraphicsPath result = new GraphicsPath();
left = left + CenterX + pointsCollection[0].X;
top = top + CenterY + pointsCollection[0].Y;
result.AddLine(left * scaleX, top * scaleX, (left + 1) * scaleX, (top + 1) * scaleX);
return(result);
}
List <PointF> aPoints = new List <PointF>();
List <byte> pointTypes = new List <byte>();
PolyPoint prev = null;
PolyPoint point = pointsCollection[0];
aPoints.Add(new PointF((point.X + left + center.X) * scaleX, (point.Y + top + center.Y) * scaleY));
pointTypes.Add(0);
int count = pointsCollection.Count;
if (this is PolygonObject)
{
count++;
}
for (int i = 1; i < count; i++)
{
prev = point;
point = pointsCollection[i];
//is bezier?
if (prev.RightCurve != null || point.LeftCurve != null)
{
if (prev.RightCurve != null)
{
aPoints.Add(new PointF((prev.X + left + center.X + prev.RightCurve.X) * scaleX, (prev.Y + top + center.Y + prev.RightCurve.Y) * scaleY));
pointTypes.Add(3);
}
else
{
PolyPoint pseudo = GetPseudoPoint(prev, point);
aPoints.Add(new PointF((pseudo.X + left + center.X) * scaleX, (pseudo.Y + top + center.Y) * scaleY));
pointTypes.Add(3);
}
if (point.LeftCurve != null)
{
aPoints.Add(new PointF((point.X + left + center.X + point.LeftCurve.X) * scaleX, (point.Y + top + center.Y + point.LeftCurve.Y) * scaleY));
pointTypes.Add(3);
}
else
{
PolyPoint pseudo = GetPseudoPoint(point, prev);
aPoints.Add(new PointF((pseudo.X + left + center.X) * scaleX, (pseudo.Y + top + center.Y) * scaleY));
pointTypes.Add(3);
}
aPoints.Add(new PointF((point.X + left + center.X) * scaleX, (point.Y + top + center.Y) * scaleY));
pointTypes.Add(3);
}
else
{
aPoints.Add(new PointF((point.X + left + center.X) * scaleX, (point.Y + top + center.Y) * scaleY));
pointTypes.Add(1);
}
}
return(new GraphicsPath(aPoints.ToArray(), pointTypes.ToArray()));
}
/// <summary>
/// Recalculate position and size of element
/// </summary>
public void RecalculateBounds()
{
if (pointsCollection.Count > 0)
{
// init
PolyPoint prev = null;
PolyPoint point = pointsCollection[0];
float left = point.X;
float top = point.Y;
float right = point.X;
float bottom = point.Y;
int count = pointsCollection.Count;
if (this is PolygonObject)
{
count++;
}
// stage 1 calculate min bounds
foreach (PolyPoint pnt in pointsCollection)
{
if (pnt.X < left)
{
left = pnt.X;
}
else if (pnt.X > right)
{
right = pnt.X;
}
if (pnt.Y < top)
{
top = pnt.Y;
}
else if (pnt.Y > bottom)
{
bottom = pnt.Y;
}
}
// stage 2 check if one of bezier way point is outside
for (int i = 1; i < count; i++)
{
prev = point;
point = pointsCollection[i];
bool haveToCalculate = false;
PolyPoint p_1 = null;
PolyPoint p_2 = null;
if (prev.RightCurve != null)
{
p_1 = new PolyPoint(prev.X + prev.RightCurve.X, prev.Y + prev.RightCurve.Y);
if (p_1.X < left)
{
haveToCalculate = true;
}
else if (p_1.X > right)
{
haveToCalculate = true;
}
if (p_1.Y < top)
{
haveToCalculate = true;
}
else if (p_1.Y > bottom)
{
haveToCalculate = true;
}
}
if (point.LeftCurve != null)
{
p_2 = new PolyPoint(point.X + point.LeftCurve.X, point.Y + point.LeftCurve.Y);
if (p_2.X < left)
{
haveToCalculate = true;
}
else if (p_2.X > right)
{
haveToCalculate = true;
}
if (p_2.Y < top)
{
haveToCalculate = true;
}
else if (p_2.Y > bottom)
{
haveToCalculate = true;
}
}
if (haveToCalculate)
{
if (p_1 == null)
{
p_1 = GetPseudoPoint(prev, point);
}
if (p_2 == null)
{
p_2 = GetPseudoPoint(point, prev);
}
// now calculate extrema
// x
float delta = RecalculateBounds_Delta(prev.X, p_1.X, p_2.X, point.X);
if (delta > 0)
{
delta = (float)Math.Sqrt(delta);
float t_1 = RecalculateBounds_Solve(prev.X, p_1.X, p_2.X, point.X, -delta);
if (0 < t_1 && t_1 < 1)
{
float x = RecalculateBounds_Value(prev.X, p_1.X, p_2.X, point.X, t_1);
if (x < left)
{
left = x;
}
else if (x > right)
{
right = x;
}
}
float t_2 = RecalculateBounds_Solve(prev.X, p_1.X, p_2.X, point.X, delta);
if (0 < t_2 && t_2 < 1)
{
float x = RecalculateBounds_Value(prev.X, p_1.X, p_2.X, point.X, t_2);
if (x < left)
{
left = x;
}
else if (x > right)
{
right = x;
}
}
}
// y
delta = RecalculateBounds_Delta(prev.Y, p_1.Y, p_2.Y, point.Y);
if (delta > 0)
{
delta = (float)Math.Sqrt(delta);
float t_1 = RecalculateBounds_Solve(prev.Y, p_1.Y, p_2.Y, point.Y, -delta);
if (0 < t_1 && t_1 < 1)
{
float y = RecalculateBounds_Value(prev.Y, p_1.Y, p_2.Y, point.Y, t_1);
if (y < top)
{
top = y;
}
else if (y > bottom)
{
bottom = y;
}
}
float t_2 = RecalculateBounds_Solve(prev.Y, p_1.Y, p_2.Y, point.Y, delta);
if (0 < t_2 && t_2 < 1)
{
float y = RecalculateBounds_Value(prev.Y, p_1.Y, p_2.Y, point.Y, t_2);
if (y < top)
{
top = y;
}
else if (y > bottom)
{
bottom = y;
}
}
}
}
}
// update
float centerX = center.X;
float centerY = center.Y;
center.X = -left;
center.Y = -top;
base.Left += left + centerX;
base.Top += top + centerY;
base.Height = bottom - top;
base.Width = right - left;
}
else
{
CenterX = 0;
CenterY = 0;
base.Width = 5;
base.Height = 5;
}
}