public Bouy(Mark mark,Coordinate latitude,Coordinate longitude)
{
_markId = mark.Id;
_latitude = latitude;
_longitude = longitude;
_new = true;
_changed = true;
}
public void Move(DateTime time,Course course,float windDirection,DateTime raceStart)
{
//cheat and jump to the time for the very first move.
//kindof hacky, but it keeps the user from having to wait for the boats to get
//intialized when the race starts. Also, we probably don't want stats for <race time
if (!_positionInitialized)
{
while (_boatDataRows[_currentBoatDataRow].datetime < raceStart && _currentBoatDataRow < _boatDataRows.Count - 2)
{
_currentBoatDataRow++;
}
//if (_currentBoatDataRow > 0)
//{
// _currentBoatDataRow = _currentBoatDataRow - 1;
//}
_positionInitialized = true;
}
windAngle = windDirection;
if (_lastUpdate == null)
{
_lastUpdate = time;
}
CoordinatePoint cp;
ProjectedPoint current=null;
CoordinatePoint np;
ProjectedPoint next=null;
long ticksBetween;
long actualTicks;
double percent=0.0;
//bool changedIndex = false;
bool doMove = false;
if (_lastUpdate.Ticks < time.Ticks && _currentBoatDataRow < _boatDataRows.Count - 2)
{
doMove = true;
direction = BoatDirection.Forward;
while (_boatDataRows[_currentBoatDataRow].datetime < time && _currentBoatDataRow < _boatDataRows.Count - 2)
{
_currentBoatDataRow++;
//changedIndex = true;
if ((_lowWaterMark == null || _highWaterMark == null) || (time < _lowWaterMark || time > _highWaterMark))
{
cp = new CoordinatePoint(new Coordinate(_boatDataRows[_currentBoatDataRow + 1].latitude), new Coordinate(_boatDataRows[_currentBoatDataRow + 1].longitude), 0);
current = cp.Project();
np = new CoordinatePoint(new Coordinate(_boatDataRows[_currentBoatDataRow].latitude), new Coordinate(_boatDataRows[_currentBoatDataRow].longitude), 0);
next = np.Project();
ProjectedPoint = current;
if (_currentMarkIndex.GetValue(_boatDataRows[_currentBoatDataRow].datetime) < course.Route.Count)
{
NavigateCourse(_boatDataRows[_currentBoatDataRow].datetime, course, cp, np);
}
double distance = CoordinatePoint.TwoDimensionalDistance(current.Easting, current.Northing, next.Easting, next.Northing);
TimeSpan ts = _boatDataRows[_currentBoatDataRow + 1].datetime - _boatDataRows[_currentBoatDataRow].datetime;
double kmh = ((distance / 1000.0) / ts.TotalHours);
speed = (float)kmh;
//float oldWindAngle = RelativeAngleToWind;
arrowAngle = (float)AngleHelper.FindAngle(current, next);
float newWindAngle = RelativeAngleToWind;
if (CurrentRacingStatus == RacingStatus.Racing)
{
float deadZone = MathHelper.PiOver4 / 2f;//use to be /4f;
Tack.TackDirection newTack = Tack.TackDirection.Undetermined;
if (newWindAngle < -deadZone && newWindAngle > -MathHelper.Pi + deadZone)
{
newTack = Tack.TackDirection.Starboard;
}
else if (newWindAngle > deadZone && newWindAngle < MathHelper.Pi - deadZone)
{
newTack = Tack.TackDirection.Port;
}
if (newTack != Tack.TackDirection.Undetermined && (_tacks.Count - 1 < _currentTackIndex.GetValue(_boatDataRows[_currentBoatDataRow].datetime) || _tacks[_currentTackIndex.GetValue(_boatDataRows[_currentBoatDataRow].datetime)].Direction != newTack))
{
PerformTack(_boatDataRows[_currentBoatDataRow].datetime);
}
}
//set the current and previous marks
if (_currentMarkIndex.GetValue(_boatDataRows[_currentBoatDataRow].datetime) < course.Route.Count)
{
_currentMark = course.Route[_currentMarkIndex.GetValue(_boatDataRows[_currentBoatDataRow].datetime)];
}
else
{
_currentMark = null;
}
if (_currentMarkIndex.GetValue(_boatDataRows[_currentBoatDataRow].datetime) > 0 && course.Route.Count > 0)
{
_previousMark = course.Route[_currentMarkIndex.GetValue(_boatDataRows[_currentBoatDataRow].datetime) - 1];
}
else
{
_previousMark = null;
}
UpdateStatistics(_boatDataRows[_currentBoatDataRow].datetime, distance / 1000.0);
Thread.Sleep(0);
}
}
}
else if (_lastUpdate.Ticks > time.Ticks && _currentBoatDataRow > 0)
{
doMove = true;
direction = BoatDirection.Backwards;
while (_boatDataRows[_currentBoatDataRow].datetime > time && _currentBoatDataRow > 1)
{
_currentBoatDataRow--;
//changedIndex = true;
if ((_lowWaterMark == null || _highWaterMark == null) || (time < _lowWaterMark || time > _highWaterMark))
{
cp = new CoordinatePoint(new Coordinate(_boatDataRows[_currentBoatDataRow - 1].latitude), new Coordinate(_boatDataRows[_currentBoatDataRow - 1].longitude), 0);
current = cp.Project();
np = new CoordinatePoint(new Coordinate(_boatDataRows[_currentBoatDataRow].latitude), new Coordinate(_boatDataRows[_currentBoatDataRow].longitude), 0);
next = np.Project();
//ProjectedPoint = cp.Project();
//double distance = CoordinatePoint.TwoDimensionalDistance(current.easting, current.northing, next.easting, next.northing);
//TimeSpan ts = _boatDataRows[_currentBoatDataRow].datetime - _boatDataRows[_currentBoatDataRow - 1].datetime;
//double kmh = ((distance / 1000.0) / ts.TotalHours);
//speed = (float)kmh;
arrowAngle = (float)AngleHelper.FindAngle(current, next);
//UpdateStatistics(_boatDataRows[_currentBoatDataRow].datetime, distance / 1000.0);
Thread.Sleep(0);
}
}
}
//set the current and previous marks
if (_currentMarkIndex.GetValue(_boatDataRows[_currentBoatDataRow].datetime) < course.Route.Count)
{
_currentMark = course.Route[_currentMarkIndex.GetValue(_boatDataRows[_currentBoatDataRow].datetime)];
}
else
{
_currentMark = null;
}
if (_currentMarkIndex.GetValue(_boatDataRows[_currentBoatDataRow].datetime) > 0 && course.Route.Count > 0)
{
_previousMark = course.Route[_currentMarkIndex.GetValue(_boatDataRows[_currentBoatDataRow].datetime) - 1];
}
else
{
_previousMark = null;
}
if (doMove && _currentBoatDataRow > 0 && _currentBoatDataRow < _boatDataRows.Count - 2)
{
int currentOffset;
if (direction == BoatDirection.Forward)
{
currentOffset = -1;
}
else
{
currentOffset = 1;
}
cp = new CoordinatePoint(new Coordinate(_boatDataRows[_currentBoatDataRow + currentOffset].latitude), new Coordinate(_boatDataRows[_currentBoatDataRow + currentOffset].longitude), 0);
current = cp.Project();
np = new CoordinatePoint(new Coordinate(_boatDataRows[_currentBoatDataRow].latitude), new Coordinate(_boatDataRows[_currentBoatDataRow].longitude), 0);
next = np.Project();
CoordinatePoint pp = new CoordinatePoint(new Coordinate(_boatDataRows[_currentBoatDataRow - currentOffset].latitude), new Coordinate(_boatDataRows[_currentBoatDataRow - currentOffset].longitude), 0);
ProjectedPoint previous = pp.Project();
ticksBetween = _boatDataRows[_currentBoatDataRow].datetime.Ticks - _boatDataRows[_currentBoatDataRow + currentOffset].datetime.Ticks;
actualTicks = time.Ticks - _boatDataRows[_currentBoatDataRow + currentOffset].datetime.Ticks;
percent = (double)actualTicks / (double)ticksBetween;
double northingDiff = next.Northing - current.Northing;
double eastingDiff = next.Easting - current.Easting;
double northing = current.Northing + (northingDiff * percent);
double easting = current.Easting + (eastingDiff * percent);
ProjectedPoint actual = new ProjectedPoint();
actual.Easting = easting;
actual.Northing = northing;
ProjectedPoint = actual;
double distance = CoordinatePoint.TwoDimensionalDistance(current.Easting, current.Northing, next.Easting, next.Northing);
TimeSpan ts = new TimeSpan(ticksBetween);
double kmh = ((distance / 1000.0) / ts.TotalHours);
speed = (float)kmh;
if (Math.Abs(kmh) > 2)
{
float startingAngle = (float)AngleHelper.FindAngle(previous, current);
float desiredAngle = (float)AngleHelper.FindAngle(next, current);
desiredAngle = AngleHelper.NormalizeAngle(desiredAngle);
float deltaAngle = AngleHelper.AngleDifference(startingAngle, desiredAngle);
arrowAngle = startingAngle + (deltaAngle * (float)percent);
arrowAngle = AngleHelper.NormalizeAngle(arrowAngle);
}
SetHeel(time,kmh);
SetSailCurve(time);
SetBoomAngle(time);
//if (changedIndex)
//{
// _updateStatistics();
//}
_lastUpdate = time;
}
else if(_currentBoatDataRow==0||_currentBoatDataRow==_boatDataRows.Count-1)
{
ProjectedPoint = new CoordinatePoint(new Coordinate(_boatDataRows[_currentBoatDataRow].latitude), new Coordinate(_boatDataRows[_currentBoatDataRow].longitude), 0).Project();
}
if (_lowWaterMark==null||time < _lowWaterMark)
{
_lowWaterMark = time;
}
if (_highWaterMark == null || time > _highWaterMark)
{
_highWaterMark = time;
}
}
public static List<Bouy> FindAllByMark(Mark mark)
{
var query = from r in Persistance.Data.Bouy.AsEnumerable()
where (int)r["mark_id"] == mark.Id
select r;
List<Bouy> bouys = new List<Bouy>();
foreach (SkipperDataSet.BouyRow rr in query)
{
bouys.Add(new Bouy(rr));
}
return bouys;
}
private Bouy NewBouy(Mark m)
{
CoordinatePoint bouyC = ScreenToCoordinates(new Point(lakePNL.Width / 2, lakePNL.Height / 2));
Bouy b = new Bouy(m, bouyC.Latitude, bouyC.Longitude);
b.Save();
return b;
}
private void addBTN_Click(object sender, EventArgs e)
{
Mark m = new Mark("New Mark", "Mark", _course);
m.Save();
double lakeWidth = _lake.West - _lake.East;
double lakeHeight = _lake.North - _lake.South;
Bouy b = NewBouy(m);
marksLB.Items.Add(m);
marksLB.SelectedIndex = marksLB.Items.Count - 1;
}
public bool IsRounding(ProjectedPoint a, ProjectedPoint b, Mark previousMark,Mark nextMark)
{
if (Bouys.Count == 1)
{
if (previousMark != null && nextMark != null)
{
//I know this is WAY more complicated than it needs to be, but it works
//I'll clean it later... maybe after I got back to college and take trig again.
Vector2 a2 = new Vector2((float)a.Easting, (float)a.Northing);
Vector2 b2 = new Vector2((float)b.Easting, (float)b.Northing);
ProjectedPoint myA = Bouys[0].CoordinatePoint.Project();
Vector2 myA2 = new Vector2((float)myA.Easting, (float)myA.Northing);
ProjectedPoint myB=FindMarkRoundPoint(previousMark, nextMark);
Vector2 myB2 = new Vector2((float)myB.Easting, (float)myB.Northing); ;
Vector2 intersect;
return GeometryHelper.TryFindIntersection(a2,b2,myA2,myB2, out intersect);
}
else
{
float markRoundDistance = 20f;
return DistanceTo(a) <= markRoundDistance;
}
}
else if (Bouys.Count == 2)
{
ProjectedPoint myA = Bouys[0].CoordinatePoint.Project();
ProjectedPoint myB = Bouys[1].CoordinatePoint.Project();
//Vector3 aV = a.ToWorld();
//Vector3 bV = b.ToWorld();
//Vector3 myAV = myA.ToWorld();
//Vector3 myBV = myB.ToWorld();
Vector2 intersect;
return GeometryHelper.TryFindIntersection(new Vector2((float)a.Easting, (float)a.Northing), new Vector2((float)b.Easting, (float)b.Northing), new Vector2((float)myA.Easting, (float)myA.Northing), new Vector2((float)myB.Easting, (float)myB.Northing), out intersect);
}
else
{
throw new Exception("Not Implemented");
}
}
public ProjectedPoint FindMarkRoundPoint(Mark previousMark, Mark nextMark)
{
ProjectedPoint myA = AveragedLocation.Project();
float previousAngle = (float)AngleHelper.FindAngleWTF(previousMark.AveragedLocation.Project(), myA);
previousAngle = AngleHelper.NormalizeAngle(-previousAngle);
float nextAngle = (float)AngleHelper.FindAngleWTF(nextMark.AveragedLocation.Project(), myA);
nextAngle = AngleHelper.NormalizeAngle(-nextAngle);
float roundingAngle = AngleHelper.FindHalfwayCounterClockwiseAngle(previousAngle, nextAngle);
ProjectedPoint pp=AngleHelper.PolarToRectangular(myA,(double)roundingAngle,1000.0);
return pp;
}
