/// <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));
}
/// <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];
}
}
}
}