public OverlayLineSegment(Geo p1, Geo p2, Color color, float width, LineStyle lineStyle) : base(color, width, lineStyle) { Add(p1); Add(p2); Course = new Course(p1, p2); ComputeCoefficients(); }
// Reflects a bearing given the normal vector (bearing) of the reflecting surface. // For correct results, please ensure the normal vector is pointing towards the inbound // bearing vector. public Course Reflect(Course normalToReflector) { var myX = Math.Sin(Radians); var myY = Math.Cos(Radians); var normX = Math.Sin(normalToReflector.Radians); var normY = Math.Cos(normalToReflector.Radians); // Compute the dot product of the current bearing and the normal vector; var dot = (myX*normX) + (myY*normY); var newX = myX - (2*dot*normX); var newY = myY - (2*dot*normY); return new Course(Math.Atan2(newX, newY) * RadiansToDegrees); }
/// <summary> /// Takes a start location and a proposed end location, and returns a reflected end location /// If the proposed end location is outside of the current figure, the end location is reflected /// by the normal to the intersecting segment, and returned to the caller. If the proposed end /// location is inside the current figure, then it is simply returned to the caller. /// </summary> /// <param name="startLocation">Start location for the current proposed move</param> /// <param name="proposedEndLocation">End location for the current proposed move</param> /// <param name="proposedCourse"> </param> /// <returns>Actual end location that remains inside the figure, which may be reflected from the /// proposed end location provided if the proposed end location lies outside the figure</returns> public override Geo Reflect(Geo startLocation, Geo proposedEndLocation, out Course proposedCourse) { //Geo start = new Geo(StartLocation); //Geo end = new Geo(ProposedEndLocation); #if MATLAB_DEBUG_OUTPUT MatlabDumpVertices(); #endif proposedCourse = new Course(startLocation, proposedEndLocation); if (Contains(proposedEndLocation)) return proposedEndLocation; //start.Move(ProposedCourse.ReciprocalDegrees, 1000); //end.Move(ProposedCourse.Degrees, 1000); #if MATLAB_DEBUG_OUTPUT Console.WriteLine("Course=zeros(2,2);\nCourse(1,:)=[{0} {1}];\nCourse(2,:)=[{2} {3}];", startLocation.Longitude, startLocation.Latitude, proposedEndLocation.Longitude, proposedEndLocation.Latitude); #endif var proposedCourseSegment = new OverlayLineSegment(startLocation, proposedEndLocation); for (var i = 0; i < Segments.Count(); i++) { var intersect = proposedCourseSegment.IntersectionPoint(Segments[i]); #if MATLAB_DEBUG_OUTPUT Console.WriteLine("Intersects({0},:)=[{1} {2}];", i + 1, intersect.Longitude, intersect.Latitude); #endif //if (intersect == null) continue; if (!proposedCourseSegment.Contains(intersect) || !Segments[i].Contains(intersect)) continue; proposedCourse = proposedCourse.Reflect(Normals[i]); var distance = startLocation.DistanceKilometers(proposedEndLocation); var result = startLocation.Offset(Geo.KilometersToRadians(distance), proposedCourse.Radians); return result; } #if MATLAB_DEBUG_OUTPUT Console.WriteLine("figure;"); Console.WriteLine("plot(Vertices(:, 1), Vertices(:, 2), 'g-*');"); Console.WriteLine("hold on;"); Console.WriteLine("plot(Course(:, 1), Course(:, 2), 'r-o');"); Console.WriteLine("plot(Intersects(:, 1), Intersects(:, 2), 'bx');"); Console.WriteLine("legend('Area Boundary', 'Course Segment under review', 'Calculated intersection points');"); #endif throw new GeometricException("The proposed course didn't intersect with any of the edges of the figure"); }
void MovementModel() { var timestepCount = (int) NemoPlatform.NemoScenario.Duration.DivideBy(NemoBase.SimulationStepTime); var currentTime = NemoPlatform.NemoScenario.StartTime; PlatformStates = new PlatformStates(); NemoTrackdef curTrackdef = null; var curLocation = new Geo(); Course course = null; //double curCourseDegrees = 0; double curSpeedMetersPerSecond = 0; var overlayPoints = new List<Geo>(); OverlayShape curTrackBoundingRegion = null; CourseChangePoints = new List<CourseChangeDatum>(); overlayPoints.Add(new Geo(NemoPlatform.Trackdefs[0].InitialLocation)); // Put trackdefs in ascending start-time order, if they weren't already NemoPlatform.Trackdefs.Sort(); for (var i = 0; i < timestepCount; i++, currentTime += NemoBase.SimulationStepTime) { // if we have a current trackdef we're processing, AND that current trackdef DOES NOT CONTAIN the current time // THEN we no longer have a current trackdef if ((curTrackdef != null) && (!curTrackdef.Contains(currentTime))) curTrackdef = null; // if we don't have a current trackdef if (curTrackdef == null) { // look through all of our trackdefs foreach (var trackdef in NemoPlatform.Trackdefs) // If we find one that contains the current time if (trackdef.Contains(currentTime)) { // make this trackdef the current one curTrackdef = trackdef; curLocation = curTrackdef.InitialLocation; course = new Course(curTrackdef.InitialCourse); curSpeedMetersPerSecond = curTrackdef.InitialSpeed * 0.514444444f; CourseChangePoints.Add(new CourseChangeDatum { IsStart = true, Location = curLocation, NewCourse = course.Degrees, }); // Conversion factor for knots to meters per second if (curTrackdef.OverlayFile != null) { if (curTrackdef.OverlayFile.Shapes.Count() != 1) throw new PlatformMovementException(string.Format("Specified overlay file {0} is unsuitable for use as a bounding region.\nReason(s): Overlay file contains multiple shapes, therefore the bounding shape is undefined", curTrackdef.OverlayFile.FileName)); curTrackBoundingRegion = curTrackdef.OverlayFile.Shapes[0]; #if true if (!curTrackBoundingRegion.IsUsableAsPerimeter) { var reasons = new StringBuilder(); if (!curTrackBoundingRegion.IsClosed) reasons.Append("Bounding region is not closed, "); if (curTrackBoundingRegion.HasCrossingSegments) reasons.Append("Bounding region is not a simple polygon (segments cross each other), "); if (reasons.Length != 0) reasons.Remove(reasons.Length - 2, 2); // Remove the trailing ", " throw new PlatformMovementException(string.Format("Specified overlay file {0} is unsuitable for use as a bounding region.\nReason(s): {1}", curTrackdef.OverlayFile.FileName, reasons)); } #endif if (!curTrackBoundingRegion.Contains(curLocation)) throw new PlatformMovementException(string.Format("Specified start location ({0:0.####}, {1:0.####}) is not contained within the trackdef bounding region", curLocation.Latitude, curLocation.Longitude)); } else { // Else, the current trackdef's overlay file IS null, and if the type is perimeter_bounce, that's a no-no if (curTrackdef.TrackType.ToLower() == "perimeter_bounce") throw new PlatformMovementException("PERIMETER_BOUNCE trackdefs require a bounding region, none was supplied."); } break; } } // If we have a current trackdef, use it, otherwise we don't update the location or course if (curTrackdef != null) { switch (curTrackdef.TrackType.ToLower()) { default: case "stationary": curSpeedMetersPerSecond = 0; break; case "straight_line": // straight line navigation code curLocation = curLocation.Offset(Geo.KilometersToRadians((curSpeedMetersPerSecond * NemoBase.SimulationStepTime.TotalSeconds) / 1000), course.Radians); break; case "perimeter_bounce": // perimeter bounce navigation code here var proposedLocation = curLocation.Offset(Geo.KilometersToRadians((curSpeedMetersPerSecond * NemoBase.SimulationStepTime.TotalSeconds) / 1000), course.Radians); //proposedLocation = new EarthCoordinate3D(curLocation); //proposedLocation.Move(curCourseDegrees, curSpeedMetersPerSecond*NemoBase.SimulationStepTime.TotalSeconds); if (curTrackBoundingRegion == null) throw new PlatformBehaviorException("Platform behavior is specified as Perimeter Bounce, but no bounding shape was specified"); if (curTrackBoundingRegion.Contains(proposedLocation)) curLocation = proposedLocation; else { //curLocation.Compare(proposedLocation); Course proposedCourse; proposedLocation = new Geo(curTrackBoundingRegion.Reflect(curLocation, proposedLocation, out proposedCourse)); if (!curTrackBoundingRegion.Contains(proposedLocation)) { proposedLocation = new Geo(curTrackBoundingRegion.Reflect(curLocation, proposedLocation, out proposedCourse)); if (!curTrackBoundingRegion.Contains(proposedLocation)) throw new PlatformMovementException("Two reflections failed to keep the platform inside the bounding region. Please check the bounding region closely for small pockets or other irregularities"); } var newCourse = new Course(curLocation, proposedLocation); CourseChangePoints.Add(new CourseChangeDatum { Location = curLocation, OldCourse = course.Degrees, NewCourse = newCourse.Degrees, }); //curLocation.Compare(proposedLocation); course = newCourse; curLocation = new Geo(proposedLocation); if (!curTrackBoundingRegion.Contains(curLocation)) throw new PlatformMovementException("Reflected position is outside the bounding region"); overlayPoints.Add(curLocation); } break; } } else // If we don't have a current trackdef, that means our speed is zero curSpeedMetersPerSecond = 0; // Put the current location, course, speed and time into the PlatformStates list PlatformStates.Add(new PlatformLocation { Location = curLocation, Course = (float) course.Degrees, Speed = (float) curSpeedMetersPerSecond, //SimulationTime = currentTime }); } overlayPoints.Add(new Geo(curLocation)); CourseOverlay = new OverlayLineSegments(overlayPoints.ToArray(), Colors.Orange, 1, LineStyle.Dot); CourseEnd = new OverlayPoint(curLocation, Colors.Red, 2); CourseChangePoints.Add(new CourseChangeDatum { IsEnd = true, Location = curLocation, OldCourse = course.Degrees, }); CourseStart = new OverlayPoint(NemoPlatform.Trackdefs[0].InitialLocation, Colors.Green, 2); }
public virtual Geo Reflect(Geo startLocation, Geo proposedEndLocation, out Course proposedCourse) { throw new NotImplementedException(); }
public Course(Course course) { Degrees = course.Degrees; Normalize(); }
/// <summary> /// Construct a pie slice which runs clockwise from the left hand course to the right hand course /// </summary> /// <param name="leftHandCourse">Left hand course</param> /// <param name="arcLength">Arc length of the pie slice, in degrees</param> public PieSlice(Course leftHandCourse, double arcLength) : this(leftHandCourse.Degrees, arcLength) { }