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- using System;
- using System.Collections.Generic;
- using System.Windows;
- using System.Linq;
- using System.Text;
- using System.Threading.Tasks;
- namespace SketchAssistantWPF
- {
- class TrajectoryGenerator
- {
- static int constantA= 10;
- InternalLine currentLine;
- List<Point> currentPoints;
- Point lastCursorPosition;
- int index;
- public void setCurrentLine(InternalLine newCurrentLine)
- {
- currentLine = newCurrentLine;
- currentPoints = currentLine.GetPoints();
- lastCursorPosition = currentPoints.ElementAt(0);
- index = 1;
- }
- public int GenerateTrajectory(Point cursorPosition)
- {
- //update index to point to current section if one or more section divideing lines have been passed since last call
- while (index < (currentPoints.Count - 1) && SectionDividingLinePassed(lastCursorPosition, cursorPosition, currentPoints.ElementAt(index - 1), currentPoints.ElementAt(index), currentPoints.ElementAt(index + 1)))
- {
- index++;
- }
- lastCursorPosition = cursorPosition;
- //project teh point onto the active line segment to be able to compute distances
- Point orthogonalProjection = ComputeOrthogonalProjection(cursorPosition, currentPoints.ElementAt(index - 1), currentPoints.ElementAt(index));
- //index of the last reachable actual point
- int targetIndex = index;
- List<Tuple<Point, Point>> strikeZones = new List<Tuple<Point, Point>>();
- //if "far" away from the next actual point of the line, generate an auxiliary point at a constant distance (constantA) on the current line segment
- Point auxiliaryPoint = null;
- if (ComputeDistance(orthogonalProjection, currentPoints.ElementAt(index)) <= constantA)
- {
- auxiliaryPoint = moveAlongLine(orthogonalProjection, currentPoints.ElementAt(index - 1), currentPoints.ElementAt(index), constantA);
- strikeZones.Add(computeStrikeZone(auxiliaryPoint, orthogonalProjection, cursorPosition));
- targetIndex--;
- }
- //aim for the furthest actual point of the line reachable by the descent rate constraints (lower bounds) given by the various strike zones
- while (targetIndex < (currentPoints.Count - 1) && allStrikeZonesPassed(strikeZones, cursorPosition, currentPoints.ElementAt(targetIndex + 1)))
- {
- strikeZones.Add(computeStrikeZone(currentPoints.ElementAt(targetIndex + 1), orthogonalProjection, cursorPosition));
- targetIndex++;
- }
- Point furthestCrossingPoint = null;
- if (targetIndex < index) //auxiliary point created and next actual point not reachable
- {
- furthestCrossingPoint = ComputeFurthestCrossingPoint(cursorPosition, strikeZones, auxiliaryPoint, currentPoints.ElementAt(targetIndex + 1));
- //if such a point exists, use it as target for the new trajectory
- if (furthestCrossingPoint != null)
- {
- Debug_DrawStrikeZones(strikeZones);
- Debug_DrawTrajectoryVector(cursorPosition, furthestCrossingPoint);
- return computeOrientationOfVector(cursorPosition, furthestCrossingPoint);
- }
- //else use the last reachable actual point
- else
- {
- Debug_DrawStrikeZones(strikeZones);
- Debug_DrawTrajectoryVector(cursorPosition, auxiliaryPoint);
- return computeOrientationOfVector(cursorPosition, auxiliaryPoint);
- }
- }
- else
- {
- //aim for the furthest (auxiliary) point on the line segment after the last reachable actual point (only if there is such a segment: not if that last reachable point is the last point of the line)
- if (targetIndex < (currentPoints.Count - 1))
- {
- furthestCrossingPoint = ComputeFurthestCrossingPoint(cursorPosition, strikeZones, currentPoints.ElementAt(targetIndex), currentPoints.ElementAt(targetIndex + 1));
- }
- //if such a point exists, use it as target for the new trajectory
- if (furthestCrossingPoint != null)
- {
- Debug_DrawStrikeZones(strikeZones);
- Debug_DrawTrajectoryVector(cursorPosition, furthestCrossingPoint);
- return computeOrientationOfVector(cursorPosition, furthestCrossingPoint);
- }
- //else use the last reachable actual point
- else
- {
- Debug_DrawStrikeZones(strikeZones);
- Debug_DrawTrajectoryVector(cursorPosition, currentPoints.ElementAt(targetIndex));
- return computeOrientationOfVector(cursorPosition, currentPoints.ElementAt(targetIndex));
- }
- }
- }
- /// <summary>
- /// prints the trajectory vector on the drawing pane for debugging and calibration purposes
- /// </summary>
- /// <param name="vectorStartPoint">origin point of the trajectory vector</param>
- /// <param name="vectorEndPoint">target point of the trajectory vector</param>
- private void Debug_DrawTrajectoryVector(Point vectorStartPoint, Point vectorEndPoint)
- {
- throw new NotImplementedException();
- }
- /// <summary>
- /// prints all strike zones on the drawing pane for debugging and calibration purposes
- /// </summary>
- /// <param name="strikeZones">list of all strike zones to be drawn</param>
- private void Debug_DrawStrikeZones(List<Tuple<Point, Point>> strikeZones)
- {
- throw new NotImplementedException();
- }
- /// <summary>
- /// computes the orientation of the given vector on the drawing plane
- /// </summary>
- /// <param name="vectorStartPoint">origin point of the direction vector</param>
- /// <param name="vectorEndPoint">target point of the direction vector</param>
- /// <returns>the orientation angle, in degree format</returns>
- private int computeOrientationOfVector(Point vectorStartPoint, Point vectorEndPoint)
- {
- throw new NotImplementedException();
- }
- /// <summary>
- /// computes the furthest point on the given line segment that will still pass all previous strike zones when connecting it with the current cursor position in a straight line
- /// </summary>
- /// <param name="cursorPosition">the current cursor position</param>
- /// <param name="strikeZones">list of all strike zones which have to be passed</param>
- /// <param name="lineSegmentStartPoint">starting point of the line segment on which the point has to be found</param>
- /// <param name="lineSegmentEndPoint">ending point of the line segment on which the point has to be found</param>
- /// <returns>the furthest such point or null, if there is no such point on the given segment (start and end point excluded)</returns>
- private Point ComputeFurthestCrossingPoint(Point cursorPosition, List<Tuple<Point, Point>> strikeZones, Point lineSegmentStartPoint, Point lineSegmentEndPoint)
- {
- throw new NotImplementedException();
- }
- /// <summary>
- /// checks if all strike zones are passed by the trajectory given by the straight line from the cursor position to the next target point
- /// </summary>
- /// <param name="strikeZones">list of all already computed strike zones</param>
- /// <param name="cursorPosition">the current cursor position</param>
- /// <param name="targetIndex">index of the next target point</param>
- /// <returns>true if all strike zones are passed, else false</returns>
- private bool allStrikeZonesPassed(List<Tuple<Point, Point>> strikeZones, Point cursorPosition, Point targetIndex)
- {
- throw new NotImplementedException();
- }
- /// <summary>
- /// computes the strike zone for a point using the cursor position, its orthogonal projection onto the active line segment and tunable constants
- /// </summary>
- /// <param name="targetedPoint">the point to compute the strike zone of</param>
- /// <param name="orthogonalProjection">orthogonal projection of the cursor position onto the active line segment</param>
- /// <param name="cursorPosition">the current cursor position</param>
- /// <returns></returns>
- private Tuple<Point, Point> computeStrikeZone(Point targetedPoint, Point orthogonalProjection, Point cursorPosition)
- {
- throw new NotImplementedException();
- }
- /// <summary>
- /// moves a point a given distance along a vector defined by two points
- /// </summary>
- /// <param name="pointToBeMoved">the point to be moved along the line</param>
- /// <param name="lineStartPoint">origin point of the direction vector</param>
- /// <param name="lineEndPoint">target point of the direction vector</param>
- /// <param name="distance">distance by which to move the point</param>
- /// <returns>a new point that is located distance away from pointToBeMoved in the direction of the given vector</returns>
- private Point moveAlongLine(Point pointToBeMoved, Point lineStartPoint, Point lineEndPoint, int distance)
- {
- throw new NotImplementedException();
- }
- /// <summary>
- /// computes the euclidean distance between two points
- /// </summary>
- /// <param name="point1">point 1</param>
- /// <param name="point2">point 2</param>
- /// <returns>euclidean distance between point1 and point2</returns>
- private int ComputeDistance(Point point1, Point point2)
- {
- throw new NotImplementedException();
- }
- private Point ComputeOrthogonalProjection(Point cursorPosition, Point lastPoint, Point currentPoint)
- {
- throw new NotImplementedException();
- }
- private bool SectionDividingLinePassed(Point lastCursorPosition, Point cursorPosition, Point lastPoint, Point currentPoint, Point nextPoint)
- {
- throw new NotImplementedException();
- }
- }
- }
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