public void SplineToBezier()
{
var spline = new Spline2(
3,
new[]
{
new SplinePoint2(59.1, 66.8),
new SplinePoint2(63.1, 81.7),
new SplinePoint2(127.2, 93.7),
new SplinePoint2(100.1, 12.9),
new SplinePoint2(55.4, 52.8),
new SplinePoint2(59.1, 66.8)
},
new[] { 0.0, 0.0, 0.0, 0.0, 0.36, 0.65, 1.0, 1.0, 1.0, 1.0 });
var beziers = spline.ToBeziers();
Assert.Equal(3, beziers.Count);
AssertClose(new SplinePoint2(59.1, 66.8), beziers[0].Start);
AssertClose(new SplinePoint2(63.1, 81.7), beziers[0].Control1);
AssertClose(new SplinePoint2(98.6015384615385, 88.3461538461538), beziers[0].Control2);
AssertClose(new SplinePoint2(109.037363313609, 75.2010840236686), beziers[0].End);
AssertClose(new SplinePoint2(109.037363313609, 75.2010840236686), beziers[1].Start);
AssertClose(new SplinePoint2(117.444, 64.612), beziers[1].Control1);
AssertClose(new SplinePoint2(109.585, 41.18), beziers[1].Control2);
AssertClose(new SplinePoint2(96.1092041015625, 36.5579833984375), beziers[1].End);
AssertClose(new SplinePoint2(96.1092041015625, 36.5579833984375), beziers[2].Start);
AssertClose(new SplinePoint2(79.8453125, 30.9796875), beziers[2].Control1);
AssertClose(new SplinePoint2(55.4, 52.8), beziers[2].Control2);
AssertClose(new SplinePoint2(59.1, 66.8), beziers[2].End);
}
public void InsertKnot()
{
var spline = new Spline2(
3,
Enumerable.Repeat(new SplinePoint2(0.0, 0.0), 8),
new[] { 0.0, 0.0, 0.0, 0.0, 0.2, 0.4, 0.6, 0.8, 1.0, 1.0, 1.0, 1.0 });
spline.InsertKnot(0.5);
Assert.Equal(9, spline.ControlPoints.Count());
Assert.Equal(13, spline.KnotValues.Count());
Assert.Equal(new[] { 0.0, 0.0, 0.0, 0.0, 0.2, 0.4, 0.5, 0.6, 0.8, 1.0, 1.0, 1.0, 1.0 }, spline.KnotValues);
}
private void RegenerateWPRoute(List <PointLatLngAlt> fullpointlist, PointLatLngAlt HomeLocation)
{
route.Clear();
homeroute.Clear();
PointLatLngAlt lastpnt = fullpointlist[0];
PointLatLngAlt lastpnt2 = fullpointlist[0];
PointLatLngAlt lastnonspline = fullpointlist[0];
List <PointLatLngAlt> splinepnts = new List <PointLatLngAlt>();
List <PointLatLngAlt> wproute = new List <PointLatLngAlt>();
// add home - this causeszx the spline to always have a straight finish
fullpointlist.Add(fullpointlist[0]);
for (int a = 0; a < fullpointlist.Count; a++)
{
if (fullpointlist[a] == null)
{
continue;
}
if (fullpointlist[a].Tag2 == "spline")
{
if (splinepnts.Count == 0)
{
splinepnts.Add(lastpnt);
}
splinepnts.Add(fullpointlist[a]);
}
else
{
if (splinepnts.Count > 0)
{
List <PointLatLng> list = new List <PointLatLng>();
splinepnts.Add(fullpointlist[a]);
Spline2 sp = new Spline2(HomeLocation);
sp.set_wp_origin_and_destination(sp.pv_location_to_vector(lastpnt2),
sp.pv_location_to_vector(lastpnt));
sp._flags.reached_destination = true;
for (int no = 1; no < (splinepnts.Count - 1); no++)
{
Spline2.spline_segment_end_type segtype =
Spline2.spline_segment_end_type.SEGMENT_END_STRAIGHT;
if (no < (splinepnts.Count - 2))
{
segtype = Spline2.spline_segment_end_type.SEGMENT_END_SPLINE;
}
sp.set_spline_destination(sp.pv_location_to_vector(splinepnts[no]), false, segtype,
sp.pv_location_to_vector(splinepnts[no + 1]));
//sp.update_spline();
while (sp._flags.reached_destination == false)
{
float t = 1f;
//sp.update_spline();
sp.advance_spline_target_along_track(t);
// Console.WriteLine(sp.pv_vector_to_location(sp.target_pos).ToString());
list.Add(sp.pv_vector_to_location(sp.target_pos));
}
list.Add(splinepnts[no]);
}
list.ForEach(x => { wproute.Add(x); });
splinepnts.Clear();
lastnonspline = fullpointlist[a];
}
wproute.Add(fullpointlist[a]);
lastpnt2 = lastpnt;
lastpnt = fullpointlist[a];
}
}
int count = wproute.Count;
int counter = 0;
PointLatLngAlt homepoint = new PointLatLngAlt();
PointLatLngAlt firstpoint = new PointLatLngAlt();
PointLatLngAlt lastpoint = new PointLatLngAlt();
if (count > 2)
{
// homeroute = last, home, first
wproute.ForEach(x =>
{
counter++;
if (counter == 1)
{
homepoint = x;
return;
}
if (counter == 2)
{
firstpoint = x;
}
if (counter == count - 1)
{
lastpoint = x;
}
if (counter == count)
{
homeroute.Points.Add(lastpoint);
homeroute.Points.Add(homepoint);
homeroute.Points.Add(firstpoint);
return;
}
route.Points.Add(x);
});
homeroute.Stroke = new Pen(Color.Yellow, 2);
// if we have a large distance between home and the first/last point, it hangs on the draw of a the dashed line.
if (homepoint.GetDistance(lastpoint) < 5000 && homepoint.GetDistance(firstpoint) < 5000)
{
homeroute.Stroke.DashStyle = DashStyle.Dash;
}
overlay.Routes.Add(homeroute);
route.Stroke = new Pen(Color.Yellow, 4);
route.Stroke.DashStyle = DashStyle.Custom;
overlay.Routes.Add(route);
}
}
