public utmpos(PointLatLngAlt pos)
{
double[] dd = pos.ToUTM();
this.x = dd[0];
this.y = dd[1];
this.zone = pos.GetUTMZone();
this.Tag = null;
}
public static List <PointLatLngAlt> CreateCorridor(List <PointLatLngAlt> polygon, double altitude, double distance,
double spacing, double angle, double overshoot1, double overshoot2, StartPosition startpos, bool shutter,
float minLaneSeparation, double width, float leadin = 0)
{
if (spacing < 4 && spacing != 0)
{
spacing = 4;
}
if (distance < 0.1)
{
distance = 0.1;
}
if (polygon.Count == 0)
{
return(new List <PointLatLngAlt>());
}
List <PointLatLngAlt> ans = new List <PointLatLngAlt>();
// utm zone distance calcs will be done in
int utmzone = polygon[0].GetUTMZone();
// utm position list
List <utmpos> utmpositions = utmpos.ToList(PointLatLngAlt.ToUTM(utmzone, polygon), utmzone);
var lanes = (width / distance) + 2;
var start = (int)((lanes / 2) * -1);
var end = start * -1;
for (int lane = start; lane <= end; lane++)
{
// correct side of the line we are on because of list reversal
int multi = 1;
if ((lane - start) % 2 == 1)
{
multi = -1;
}
GenerateOffsetPath(utmpositions, distance * multi * lane, spacing, utmzone)
.ForEach(pnt => { ans.Add(pnt); });
utmpositions.Reverse();
}
// set the altitude on all points
ans.ForEach(plla => { plla.Alt = altitude; });
return(ans);
}
double[] convertCoords(PointLatLngAlt plla)
{
if (utmzone < -360)
{
utmzone = plla.GetUTMZone();
}
var utm = plla.ToUTM(utmzone);
Array.Resize(ref utm, 3);
utm[2] = plla.Alt;
return(utm);
}
double[] convertCoords(PointLatLngAlt plla)
{
if (utmzone != plla.GetUTMZone())
{
utmzone = plla.GetUTMZone();
utmcenter = plla.ToUTM(utmzone);
textureid.ForEach(a => a.Value.Cleanup());
textureid.Clear();
}
var utm = plla.ToUTM(utmzone);
Array.Resize(ref utm, 3);
utm[0] -= utmcenter[0];
utm[1] -= utmcenter[1];
utm[2] = plla.Alt;
return(new[] { utm[0], utm[1], utm[2] });
}
public static List <PointLatLngAlt> CreateGrid(List <PointLatLngAlt> polygon, double altitude, double distance, double spacing, double angle, double overshoot1, double overshoot2, StartPosition startpos, bool shutter, float minLaneSeparation, float leadin = 0)
{
//DoDebug();
if (spacing < 4 && spacing != 0)
{
spacing = 4;
}
if (distance < 0.1)
{
distance = 0.1;
}
if (polygon.Count == 0)
{
return(new List <PointLatLngAlt>());
}
// Make a non round number in case of corner cases
if (minLaneSeparation != 0)
{
minLaneSeparation += 0.5F;
}
// Lane Separation in meters
double minLaneSeparationINMeters = minLaneSeparation * distance;
List <PointLatLngAlt> ans = new List <PointLatLngAlt>();
// utm zone distance calcs will be done in
int utmzone = polygon[0].GetUTMZone();
// utm position list
List <utmpos> utmpositions = utmpos.ToList(PointLatLngAlt.ToUTM(utmzone, polygon), utmzone);
// close the loop if its not already
if (utmpositions[0] != utmpositions[utmpositions.Count - 1])
{
utmpositions.Add(utmpositions[0]); // make a full loop
}
// get mins/maxs of coverage area
Rect area = getPolyMinMax(utmpositions);
// get initial grid
// used to determine the size of the outer grid area
double diagdist = area.DiagDistance();
// somewhere to store out generated lines
List <linelatlng> grid = new List <linelatlng>();
// number of lines we need
int lines = 0;
// get start point middle
double x = area.MidWidth;
double y = area.MidHeight;
addtomap(new utmpos(x, y, utmzone), "Base");
// get left extent
double xb1 = x;
double yb1 = y;
// to the left
newpos(ref xb1, ref yb1, angle - 90, diagdist / 2 + distance);
// backwards
newpos(ref xb1, ref yb1, angle + 180, diagdist / 2 + distance);
utmpos left = new utmpos(xb1, yb1, utmzone);
addtomap(left, "left");
// get right extent
double xb2 = x;
double yb2 = y;
// to the right
newpos(ref xb2, ref yb2, angle + 90, diagdist / 2 + distance);
// backwards
newpos(ref xb2, ref yb2, angle + 180, diagdist / 2 + distance);
utmpos right = new utmpos(xb2, yb2, utmzone);
addtomap(right, "right");
// set start point to left hand side
x = xb1;
y = yb1;
// draw the outergrid, this is a grid that cover the entire area of the rectangle plus more.
while (lines < ((diagdist + distance * 2) / distance))
{
// copy the start point to generate the end point
double nx = x;
double ny = y;
newpos(ref nx, ref ny, angle, diagdist + distance * 2);
linelatlng line = new linelatlng();
line.p1 = new utmpos(x, y, utmzone);
line.p2 = new utmpos(nx, ny, utmzone);
line.basepnt = new utmpos(x, y, utmzone);
grid.Add(line);
// addtomap(line);
newpos(ref x, ref y, angle + 90, distance);
lines++;
}
// find intersections with our polygon
// store lines that dont have any intersections
List <linelatlng> remove = new List <linelatlng>();
int gridno = grid.Count;
// cycle through our grid
for (int a = 0; a < gridno; a++)
{
double closestdistance = double.MaxValue;
double farestdistance = double.MinValue;
utmpos closestpoint = utmpos.Zero;
utmpos farestpoint = utmpos.Zero;
// somewhere to store our intersections
List <utmpos> matchs = new List <utmpos>();
int b = -1;
int crosses = 0;
utmpos newutmpos = utmpos.Zero;
foreach (utmpos pnt in utmpositions)
{
b++;
if (b == 0)
{
continue;
}
newutmpos = FindLineIntersection(utmpositions[b - 1], utmpositions[b], grid[a].p1, grid[a].p2);
if (!newutmpos.IsZero)
{
crosses++;
matchs.Add(newutmpos);
if (closestdistance > grid[a].p1.GetDistance(newutmpos))
{
closestpoint.y = newutmpos.y;
closestpoint.x = newutmpos.x;
closestpoint.zone = newutmpos.zone;
closestdistance = grid[a].p1.GetDistance(newutmpos);
}
if (farestdistance < grid[a].p1.GetDistance(newutmpos))
{
farestpoint.y = newutmpos.y;
farestpoint.x = newutmpos.x;
farestpoint.zone = newutmpos.zone;
farestdistance = grid[a].p1.GetDistance(newutmpos);
}
}
}
if (crosses == 0) // outside our polygon
{
if (!PointInPolygon(grid[a].p1, utmpositions) && !PointInPolygon(grid[a].p2, utmpositions))
{
remove.Add(grid[a]);
}
}
else if (crosses == 1) // bad - shouldnt happen
{
}
else if (crosses == 2) // simple start and finish
{
linelatlng line = grid[a];
line.p1 = closestpoint;
line.p2 = farestpoint;
grid[a] = line;
}
else // multiple intersections
{
linelatlng line = grid[a];
remove.Add(line);
while (matchs.Count > 1)
{
linelatlng newline = new linelatlng();
closestpoint = findClosestPoint(closestpoint, matchs);
newline.p1 = closestpoint;
matchs.Remove(closestpoint);
closestpoint = findClosestPoint(closestpoint, matchs);
newline.p2 = closestpoint;
matchs.Remove(closestpoint);
newline.basepnt = line.basepnt;
grid.Add(newline);
}
}
}
// cleanup and keep only lines that pass though our polygon
foreach (linelatlng line in remove)
{
grid.Remove(line);
}
// debug
foreach (linelatlng line in grid)
{
addtomap(line);
}
if (grid.Count == 0)
{
return(ans);
}
// pick start positon based on initial point rectangle
utmpos startposutm;
switch (startpos)
{
default:
case StartPosition.Home:
startposutm = new utmpos(Host2.cs.HomeLocation);
break;
case StartPosition.BottomLeft:
startposutm = new utmpos(area.Left, area.Bottom, utmzone);
break;
case StartPosition.BottomRight:
startposutm = new utmpos(area.Right, area.Bottom, utmzone);
break;
case StartPosition.TopLeft:
startposutm = new utmpos(area.Left, area.Top, utmzone);
break;
case StartPosition.TopRight:
startposutm = new utmpos(area.Right, area.Top, utmzone);
break;
case StartPosition.Point:
startposutm = new utmpos(StartPointLatLngAlt);
break;
}
// find the closes polygon point based from our startpos selection
startposutm = findClosestPoint(startposutm, utmpositions);
// find closest line point to startpos
linelatlng closest = findClosestLine(startposutm, grid, 0 /*Lane separation does not apply to starting point*/, angle);
utmpos lastpnt;
// get the closes point from the line we picked
if (closest.p1.GetDistance(startposutm) < closest.p2.GetDistance(startposutm))
{
lastpnt = closest.p1;
}
else
{
lastpnt = closest.p2;
}
// S = start
// E = end
// ME = middle end
// SM = start middle
while (grid.Count > 0)
{
// for each line, check which end of the line is the next closest
if (closest.p1.GetDistance(lastpnt) < closest.p2.GetDistance(lastpnt))
{
utmpos newstart = newpos(closest.p1, angle, -leadin);
newstart.Tag = "S";
addtomap(newstart, "S");
ans.Add(newstart);
closest.p1.Tag = "SM";
addtomap(closest.p1, "SM");
ans.Add(closest.p1);
if (spacing > 0)
{
for (int d = (int)(spacing - ((closest.basepnt.GetDistance(closest.p1)) % spacing));
d < (closest.p1.GetDistance(closest.p2));
d += (int)spacing)
{
double ax = closest.p1.x;
double ay = closest.p1.y;
newpos(ref ax, ref ay, angle, d);
var utmpos1 = new utmpos(ax, ay, utmzone)
{
Tag = "M"
};
addtomap(utmpos1, "M");
ans.Add(utmpos1);
}
}
closest.p2.Tag = "ME";
addtomap(closest.p2, "ME");
ans.Add(closest.p2);
utmpos newend = newpos(closest.p2, angle, overshoot1);
newend.Tag = "E";
addtomap(newend, "E");
ans.Add(newend);
lastpnt = closest.p2;
grid.Remove(closest);
if (grid.Count == 0)
{
break;
}
closest = findClosestLine(newend, grid, minLaneSeparationINMeters, angle);
}
else
{
utmpos newstart = newpos(closest.p2, angle, leadin);
newstart.Tag = "S";
addtomap(newstart, "S");
ans.Add(newstart);
closest.p2.Tag = "SM";
addtomap(closest.p2, "SM");
ans.Add(closest.p2);
if (spacing > 0)
{
for (int d = (int)((closest.basepnt.GetDistance(closest.p2)) % spacing);
d < (closest.p1.GetDistance(closest.p2));
d += (int)spacing)
{
double ax = closest.p2.x;
double ay = closest.p2.y;
newpos(ref ax, ref ay, angle, -d);
var utmpos2 = new utmpos(ax, ay, utmzone)
{
Tag = "M"
};
addtomap(utmpos2, "M");
ans.Add(utmpos2);
}
}
closest.p1.Tag = "ME";
addtomap(closest.p1, "ME");
ans.Add(closest.p1);
utmpos newend = newpos(closest.p1, angle, -overshoot2);
newend.Tag = "E";
addtomap(newend, "E");
ans.Add(newend);
lastpnt = closest.p1;
grid.Remove(closest);
if (grid.Count == 0)
{
break;
}
closest = findClosestLine(newend, grid, minLaneSeparationINMeters, angle);
}
}
// set the altitude on all points
ans.ForEach(plla => { plla.Alt = altitude; });
return(ans);
}
public static List <PointLatLngAlt> CreateCorridor(List <PointLatLngAlt> polygon, double height, double camViewHeight, double camVertSpacing, double distance, double angle,
double camPitch, bool flipDirection, double bermDepth, int numBenches, double toeHeight, double toepoint, double toepoint_runs, bool pathHome, double homeAlt, FlightPlanner.altmode altmode)
{
int direction = (flipDirection == true ? -1 : 1);
if (camVertSpacing < 0.1)
{
camVertSpacing = 0.1;
}
if (polygon.Count == 0 || numBenches < 1)
{
return(new List <PointLatLngAlt>());
}
List <PointLatLngAlt> ans = new List <PointLatLngAlt>();
// utm zone distance calcs will be done in
int utmzone = polygon[0].GetUTMZone();
// utm position list
List <utmpos> utmpositions = utmpos.ToList(PointLatLngAlt.ToUTM(utmzone, polygon), utmzone);
double vertOffset = 0;
double horizOffset = 0;
double toepoint_runs_count = 0;
//calculate number of lanes with a starting altitude of half the calculated cam view height
// double initialAltitude = camViewHeight * Math.Sin(angle * deg2rad) / 3;
double initialAltitude = toepoint;
var vertIncrement = camVertSpacing * Math.Sin(angle * deg2rad);
var lanes = Math.Round((height - initialAltitude) / vertIncrement) + toepoint_runs + 1;
//repeat for each bench, applying height/berm depth offsets
for (int bench = 0; bench < numBenches; bench++)
{
//repeat for each increment up face
for (int lane = 0; lane < lanes; lane++)
{
if (toepoint_runs_count < toepoint_runs)
{
//calculate offset from the base of the face based on toe angle, camera pitch, camera overlap % and bench offset
vertOffset = distance * Math.Sin(camPitch * deg2rad) + (initialAltitude + (bench * height) + toeHeight);
horizOffset = distance * Math.Cos(camPitch * deg2rad) - ((initialAltitude) / Math.Tan(angle * deg2rad)) - bench * (bermDepth + height / Math.Tan(angle * deg2rad));
toepoint_runs_count++;
}
else
{
//calculate offset from the base of the face based on toe angle, camera pitch, camera overlap % and bench offset
vertOffset = distance * Math.Sin(camPitch * deg2rad) + (initialAltitude + ((lane - toepoint_runs) * vertIncrement) + (bench * height) + toeHeight);
horizOffset = distance * Math.Cos(camPitch * deg2rad) - ((initialAltitude + ((lane - toepoint_runs) * vertIncrement)) / Math.Tan(angle * deg2rad)) - bench * (bermDepth + height / Math.Tan(angle * deg2rad));
}
// THIS IS COMMENTED OUT BECAUSE IT'S INSANE NONSENSE THAT SHOULD NEVER HAVE BEEN IN HERE.
//
// //convert to absolute if flight planner is set to absolute mode (shift up by home alt)
// if (altmode == FlightPlanner.altmode.Absolute)
// {
// vertOffset += homeAlt;
// }
//if this is the first lane of a bench, climb to the altitude of the first waypoint of the lane before moving to the waypoint
if (lane == 0 && ans.Count > 0)
{
PointLatLngAlt intermediateWP = new PointLatLngAlt(ans.Last().Lat, ans.Last().Lng, vertOffset)
{
Tag = "S"
};
ans.Add(intermediateWP);
}
GenerateOffsetPath(utmpositions, horizOffset * direction, utmzone)
.ForEach(pnt => { ans.Add(pnt); ans.Last().Alt = vertOffset; });
//reverse the order of waypoints and direction of offset on the way back
utmpositions.Reverse();
direction = -direction;
}
}
//if an odd number of lanes were specified create one last run along the path back to home
if (pathHome && ((lanes * numBenches) % 2) == 1)
{
GenerateOffsetPath(utmpositions, horizOffset * direction, utmzone)
.ForEach(pnt => { ans.Add(pnt); ans.Last().Alt = vertOffset; ans.Last().Tag = "R"; });
}
return(ans);
}
public static List <PointLatLngAlt> CreateGrid(List <PointLatLngAlt> polygon, double altitude, double distance, double spacing, double angle, double overshoot1, double overshoot2, StartPosition startpos, bool shutter)
{
if (spacing < 10 && spacing != 0)
{
spacing = 10;
}
List <PointLatLngAlt> ans = new List <PointLatLngAlt>();
int utmzone = polygon[0].GetUTMZone();
List <utmpos> utmpositions = utmpos.ToList(PointLatLngAlt.ToUTM(utmzone, polygon), utmzone);
if (utmpositions[0] != utmpositions[utmpositions.Count - 1])
{
utmpositions.Add(utmpositions[0]); // make a full loop
}
Rect area = getPolyMinMax(utmpositions);
// get initial grid
// used to determine the size of the outer grid area
double diagdist = area.DiagDistance();
// somewhere to store out generated lines
List <linelatlng> grid = new List <linelatlng>();
// number of lines we need
int lines = 0;
// get start point bottom left
double x = area.MidWidth;
double y = area.MidHeight;
addtomap(new utmpos(x, y, utmzone), "Base");
// get left extent
double xb1 = x;
double yb1 = y;
// to the left
newpos(ref xb1, ref yb1, angle - 90, diagdist / 2 + distance);
// backwards
newpos(ref xb1, ref yb1, angle + 180, diagdist / 2 + distance);
utmpos left = new utmpos(xb1, yb1, utmzone);
addtomap(left, "left");
// get right extent
double xb2 = x;
double yb2 = y;
// to the right
newpos(ref xb2, ref yb2, angle + 90, diagdist / 2 + distance);
// backwards
newpos(ref xb2, ref yb2, angle + 180, diagdist / 2 + distance);
utmpos right = new utmpos(xb2, yb2, utmzone);
addtomap(right, "right");
// set start point to left hand side
x = xb1;
y = yb1;
// draw the outergrid, this is a grid that cover the entire area of the rectangle plus more.
while (lines < ((diagdist + distance * 2) / distance))
{
// copy the start point to generate the end point
double nx = x;
double ny = y;
newpos(ref nx, ref ny, angle, diagdist + distance * 2);
linelatlng line = new linelatlng();
line.p1 = new utmpos(x, y, utmzone);
line.p2 = new utmpos(nx, ny, utmzone);
line.basepnt = new utmpos(x, y, utmzone);
grid.Add(line);
// addtomap(line);
newpos(ref x, ref y, angle + 90, distance);
lines++;
}
// find intersections with our polygon
// store lines that dont have any intersections
List <linelatlng> remove = new List <linelatlng>();
int gridno = grid.Count;
// cycle through our grid
for (int a = 0; a < gridno; a++)
{
double closestdistance = double.MaxValue;
double farestdistance = double.MinValue;
utmpos closestpoint = utmpos.Zero;
utmpos farestpoint = utmpos.Zero;
// somewhere to store our intersections
List <utmpos> matchs = new List <utmpos>();
int b = -1;
int crosses = 0;
utmpos newutmpos = utmpos.Zero;
foreach (utmpos pnt in utmpositions)
{
b++;
if (b == 0)
{
continue;
}
newutmpos = FindLineIntersection(utmpositions[b - 1], utmpositions[b], grid[a].p1, grid[a].p2);
if (!newutmpos.IsZero)
{
crosses++;
matchs.Add(newutmpos);
if (closestdistance > grid[a].p1.GetDistance(newutmpos))
{
closestpoint.y = newutmpos.y;
closestpoint.x = newutmpos.x;
closestpoint.zone = newutmpos.zone;
closestdistance = grid[a].p1.GetDistance(newutmpos);
}
if (farestdistance < grid[a].p1.GetDistance(newutmpos))
{
farestpoint.y = newutmpos.y;
farestpoint.x = newutmpos.x;
farestpoint.zone = newutmpos.zone;
farestdistance = grid[a].p1.GetDistance(newutmpos);
}
}
}
if (crosses == 0) // outside our polygon
{
if (!PointInPolygon(grid[a].p1, utmpositions) && !PointInPolygon(grid[a].p2, utmpositions))
{
remove.Add(grid[a]);
}
}
else if (crosses == 1) // bad - shouldnt happen
{
}
else if (crosses == 2) // simple start and finish
{
linelatlng line = grid[a];
line.p1 = closestpoint;
line.p2 = farestpoint;
grid[a] = line;
}
else // multiple intersections
{
linelatlng line = grid[a];
remove.Add(line);
while (matchs.Count > 1)
{
linelatlng newline = new linelatlng();
closestpoint = findClosestPoint(closestpoint, matchs);
newline.p1 = closestpoint;
matchs.Remove(closestpoint);
closestpoint = findClosestPoint(closestpoint, matchs);
newline.p2 = closestpoint;
matchs.Remove(closestpoint);
newline.basepnt = line.basepnt;
grid.Add(newline);
}
}
}
foreach (linelatlng line in remove)
{
grid.Remove(line);
}
foreach (linelatlng line in grid)
{
addtomap(line);
}
if (grid.Count == 0)
{
return(ans);
}
utmpos startposutm;
switch (startpos)
{
default:
case StartPosition.Home:
startposutm = new utmpos(GridPlugin.Host2.cs.HomeLocation);
break;
case StartPosition.BottomLeft:
startposutm = new utmpos(area.Left, area.Bottom, utmzone);
break;
case StartPosition.BottomRight:
startposutm = new utmpos(area.Right, area.Bottom, utmzone);
break;
case StartPosition.TopLeft:
startposutm = new utmpos(area.Left, area.Top, utmzone);
break;
case StartPosition.TopRight:
startposutm = new utmpos(area.Right, area.Top, utmzone);
break;
}
//return
// FindPath(grid, startposutm);
// find closest line point to home
linelatlng closest = findClosestLine(startposutm, grid);
utmpos lastpnt;
if (closest.p1.GetDistance(startposutm) < closest.p2.GetDistance(startposutm))
{
lastpnt = closest.p1;
}
else
{
lastpnt = closest.p2;
}
while (grid.Count > 0)
{
if (closest.p1.GetDistance(lastpnt) < closest.p2.GetDistance(lastpnt))
{
addtomap(closest.p1, "S");
ans.Add(closest.p1);
if (spacing > 0)
{
for (int d = (int)(spacing - ((closest.basepnt.GetDistance(closest.p1)) % spacing));
d < (closest.p1.GetDistance(closest.p2));
d += (int)spacing)
{
double ax = closest.p1.x;
double ay = closest.p1.y;
newpos(ref ax, ref ay, angle, d);
addtomap(new utmpos(ax, ay, utmzone), "M");
ans.Add((new utmpos(ax, ay, utmzone)
{
Tag = "M"
}));
// if (shutter.ToLower().StartsWith("y"))
// AddDigicamControlPhoto();
}
}
utmpos newend = newpos(closest.p2, angle, overshoot1);
// if (overshoot1 > 0)
// ans.Add(new utmpos(closest.p2) { Tag = "M" });
addtomap(newend, "E");
ans.Add(newend);
lastpnt = closest.p2;
grid.Remove(closest);
if (grid.Count == 0)
{
break;
}
closest = findClosestLine(newend, grid);
}
else
{
addtomap(closest.p2, "S");
ans.Add(closest.p2);
if (spacing > 0)
{
for (int d = (int)((closest.basepnt.GetDistance(closest.p2)) % spacing);
d < (closest.p1.GetDistance(closest.p2));
d += (int)spacing)
{
double ax = closest.p2.x;
double ay = closest.p2.y;
newpos(ref ax, ref ay, angle, -d);
addtomap(new utmpos(ax, ay, utmzone), "M");
ans.Add((new utmpos(ax, ay, utmzone)
{
Tag = "M"
}));
// if (shutter.ToLower().StartsWith("y"))
// AddDigicamControlPhoto();
}
}
utmpos newend = newpos(closest.p1, angle, -overshoot2);
// if (overshoot2 > 0)
// ans.Add(new utmpos(closest.p1) { Tag = "M" });
addtomap(newend, "E");
ans.Add(newend);
lastpnt = closest.p1;
grid.Remove(closest);
if (grid.Count == 0)
{
break;
}
closest = findClosestLine(newend, grid);
}
}
// set the altitude on all points
ans.ForEach(plla => { plla.Alt = altitude; });
return(ans);
}
