コード例 #1
0
ファイル: CarHelper.cs プロジェクト: FrankEppink/MathCarRace
 /// <summary>
 /// calculated the next point, i.e. based on the previous movement vector the next "extrapolated" point
 /// </summary>
 internal static Point CalculateNextMiddlePoint(Point secondLastPoint, Point lastPoint)
 {
     return(VectorMath.ExtrapolateMovement(secondLastPoint, lastPoint));
 }
コード例 #2
0
        /// <summary>
        /// Among the given filtered (invalid have been removed) candidate grid points find the optimum
        /// </summary>
        /// <param name="routeGridPoints">the current route grid points</param>
        /// <param name="candidateGridPointsFiltered">the filtered candidated grid points</param>
        /// <param name="middleGridPoint">middle grid point</param>
        /// <param name="closest">
        /// true: find the point that is closest to middle and to current grid point
        /// false: find the point that is farthest from middle point and farthest from current grid point</param>
        /// <param name="nextPointFound">out bool: true = a next point was find</param>
        /// <param name="gridPoint">the found next point</param>
        internal static void GetNextGridPoint_CountGreater1_FindOptimum(IList <Point> routeGridPoints, IList <Point> candidateGridPointsFiltered,
                                                                        Point middleGridPoint, bool closest, out bool nextPointFound, out Point gridPoint)
        {
            // find that point which is
            // - closest to last point
            // - closest to the inner curve, i.e. closest to the middle grid point.
            // - does not go in the opposite direction of current quadrant
            nextPointFound = false;
            while (nextPointFound == false)
            {
                // 1. last point distance
                IList <Point> points2CurrentPoint;
                if (closest)
                {
                    points2CurrentPoint = VectorMath.FindPointsInTheListClosest2FixPoint(routeGridPoints.Last(), candidateGridPointsFiltered);
                }
                else
                {
                    points2CurrentPoint = VectorMath.FindPointsInTheListFarthest2FixPoint(routeGridPoints.Last(), candidateGridPointsFiltered);
                }

                if (points2CurrentPoint.Count == 0)
                {
                    return;
                }

                // remove them from the candidateGridPoints list, so that they are not in the list in case we need to have another go in this loop
                candidateGridPointsFiltered = candidateGridPointsFiltered.Except(points2CurrentPoint).ToList();

                bool secondFoundFlag = false;
                while (secondFoundFlag == false)
                {
                    // 2. distance to the inner curve, i.e. distance to the middle grid point.
                    IList <Point> points2MiddleGridPoint;
                    if (closest)
                    {
                        points2MiddleGridPoint = VectorMath.FindPointsInTheListClosest2FixPoint(middleGridPoint, points2CurrentPoint);
                    }
                    else
                    {
                        points2MiddleGridPoint = VectorMath.FindPointsInTheListFarthest2FixPoint(middleGridPoint, points2CurrentPoint);
                    }

                    if ((points2MiddleGridPoint == null) || (points2MiddleGridPoint.Count == 0))
                    {
                        // leave this inner loop to continue searching with the remaining points in candidateGridPoints
                        break;
                    }

                    // remove them from the points2CurrentPoint list,
                    // so that they are not in the list in case we need to have another go in this loop
                    points2CurrentPoint = points2CurrentPoint.Except(points2MiddleGridPoint).ToList();

                    if (routeGridPoints.Count >= 3)
                    {
                        // filter candidates with a unfavorable direction (opposite direction for the current quadrant)
                        IList <Point> filterResult = FilterCandidatePoints_RemoveUnfavorableDir
                                                         (points2MiddleGridPoint, routeGridPoints, middleGridPoint);
                        if (filterResult.Count > 0)
                        {
                            // now take the first that does not go into the quadrant opposite direction
                            secondFoundFlag = true;
                            nextPointFound  = true;
                            gridPoint       = filterResult.First();
                        }
                    }
                    else
                    {
                        // only 2 grid points so far, we do not need to do the pre-pre-vector check because there is no pre-pre-vector
                        // just take the first in closestPoints2MiddleGridPoint
                        secondFoundFlag = true;
                        nextPointFound  = true;
                        gridPoint       = points2MiddleGridPoint[0];
                    }
                }
            }
        }