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碰撞检测 距离参数改为5米

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This commit is contained in:
szdot 2024-04-03 10:28:28 +08:00
parent cf4a484d64
commit ee1f47a448
9 changed files with 76 additions and 14 deletions
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7
FlightRouteV2/FlightRouteV2.cs
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@ -411,7 +411,7 @@ namespace FlightRouteV2
/// <summary>
/// 飞行过程中间距 平方值
/// </summary>
public static double SpaceBetweenSquare { get; set; } = 62500;
public static double SpaceBetweenSquare { get; set; } = 250000;
/// <summary>
/// 算绕行时 中间取点 true在正中间取点即 一个圆盘 false在一个圆柱体内取点
/// </summary>
@ -1373,7 +1373,7 @@ namespace FlightRouteV2
/// <param name="swapCount">交换次数</param>
/// <param name="crossingLimit">交叉线路数量上限 ps:超过这个数量则不进行交换</param>
/// <returns>新的目标点</returns>
public static Vector3[] ContactABOut(Vector3[] aVecs, Vector3[] bVecs, SomeCalculateWay StrPrint,bool isStaticSkip = true, double staticThresholdSquare = 25 , bool isSwap = true, int swapCount = 5, int crossingLimit = 6)
public static Vector3[] ContactABOut(Vector3[] aVecs, Vector3[] bVecs, SomeCalculateWay StrPrint,bool isStaticSkip = false, double staticThresholdSquare = 25 , bool isSwap = true, int swapCount = 5, int crossingLimit = 6)
{
long t = DateTimeOffset.UtcNow.ToUnixTimeSeconds();
StrPrint("-------智能选择路径计算，开始-------");
@ -1561,7 +1561,7 @@ namespace FlightRouteV2
/// <param name="StrPrint">日志输出 回调函数</param>
/// <param name="layHight">错层层高</param>
/// <returns>返回一个二维向量坐标集合 middle[0]是第一个中间航点 middle[1]是第二个中间航点 返回空数组则代表两个图形不在一个平面上或者不够4个点</returns>
public static List<List<Vector3>> CollisionLayer(Vector3[] aVecs, Vector3[] bVecs,SomeCalculateWay StrPrint, double layHight = 185)
public static List<List<Vector3>> CollisionLayer(Vector3[] aVecs, Vector3[] bVecs,SomeCalculateWay StrPrint, double layHight = 300)
{
long t = DateTimeOffset.UtcNow.ToUnixTimeSeconds();
StrPrint("-------错层，开始-------");
@ -2056,6 +2056,7 @@ namespace FlightRouteV2
/// <param name="aVecs">平面图案坐标组</param>
/// <param name="bVecs">回归矩阵坐标组</param>
/// <param name="strPrint">日志输出 回调函数</param>
/// <param name="pullingDistance">拉散层距</param>
/// <returns>拉散图案的坐标组</returns>
public static Vector3[] NormalPull(Vector3[] aVecs, Vector3[] bVecs, SomeCalculateWay StrPrint,double pullingDistance = 300)
{

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FlightRouteV2/bin/Release/FlightRouteV2.dll
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FlightRouteV2/bin/Release/FlightRouteV2.pdb
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FlightRouteV2/obj/Release/DesignTimeResolveAssemblyReferencesInput.cache
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3
FlyCube/MainWindow.xaml
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@ -16,12 +16,13 @@
<Label Content="顶视图" FontSize="14" Background="#556b6b6b" Foreground="#FFDCDCDC" HorizontalAlignment="Left" VerticalAlignment="Top" Margin="0" />
</Canvas>
</Grid>
<Grid Name="MainMenu" Width="220" Height="800" Margin="10,0,0,0" HorizontalAlignment="Left" VerticalAlignment="Top">
<Button Content="导入航点" HorizontalAlignment="Left" VerticalAlignment="Top" Width="220" Height="49" Margin="0,0,0,0" Click="ImportFcgm_Click"/>
<Button Content="导入映射图" HorizontalAlignment="Left" VerticalAlignment="Top" Width="220" Height="49" Margin="0,54,0,0" Click="ImportImg_Click"/>
<Button Content="保存航点" HorizontalAlignment="Left" VerticalAlignment="Top" Width="220" Height="49" Margin="0,108,0,0" Click="ExportFcgm_Click"/>
<Button Content="渲染" HorizontalAlignment="Left" VerticalAlignment="Top" Width="220" Height="49" Margin="0,162,0,0" Click="Render_Click"/>
<Button Content="错层" HorizontalAlignment="Center" VerticalAlignment="Top" Width="220" Height="49" Margin="0,216,0,0" Click="CollisionLayer_Click"/>
<Button Content="3D绕行" HorizontalAlignment="Left" VerticalAlignment="Top" Width="220" Height="49" Margin="0,270,0,0" Click="ByPass_Click"/>
<Button Content="绕行取消" HorizontalAlignment="Left" VerticalAlignment="Top" Width="220" Height="49" Margin="0,324,0,0" Click="ByPassCancel_Click"/>
<TextBox Name="vLogBox" HorizontalAlignment="Center" VerticalAlignment="Top" Width="220" Height="284" Margin="0,378,0,0"/>

78
FlyCube/MainWindow.xaml.cs
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@ -75,6 +75,69 @@ namespace FlyCube
//SaveFile(pathd, txtd);
}
private async void CollisionLayer_Click(object sender, RoutedEventArgs e)
{
//资源管理器 获取航点文件路径
FileBase.FileClass = new string[] { "航点文件" };
FileBase.Pascal = new string[] { "*.txt" };
string FliePath = FileBase.OpenExplorer("航点文件导入", out bool isSelect);
if (isSelect)
{
List<Vector3[]> abVecs = FileBase.TxtToPos(FliePath, out string[] fightNames);//从txt文件里面读取航点 信息
Vector3[] aVecs = abVecs[0].ToArray();
Vector3[] bVecs = abVecs[1].ToArray();
Vector3[] new_bVecs = FlyVecFun.ContactABOut(aVecs, bVecs, StrPrint);
Task<List<List<Vector3>>> reTask = Task.Run(() => FlyVecFun.CollisionLayer(aVecs, new_bVecs, StrPrintAsync));
List<List<Vector3>> re = await reTask;
string txta = "";
string txtb = "";
string txtd = "";
for (int i = 0; i < abVecs[0].Length; i++)
{
if (re.Count > 0)
{
txta += i + " 0" + " " + re[0][i].X + " " + re[0][i].Y + " " + re[0][i].Z + "\r\n";
}
if (re.Count > 1)
{
txtb += i + " 0" + " " + re[1][i].X + " " + re[1][i].Y + " " + re[1][i].Z + "\r\n";
}
txtd += i + " 0" + " " + new_bVecs[i].X + " " + new_bVecs[i].Y + " " + new_bVecs[i].Z + "\r\n";
}
if (re.Count > 0)
{
string path = "C:/Users/szdot/Desktop/a.txt";
if (File.Exists(path))
{
File.Delete(path);
}
SaveFile(path, txta);
}
if (re.Count > 1)
{
string path = "C:/Users/szdot/Desktop/b.txt";
if (File.Exists(path))
{
File.Delete(path);
}
SaveFile(path, txtb);
}
string pathd = "C:/Users/szdot/Desktop/d.txt";
if (File.Exists(pathd))
{
File.Delete(pathd);
}
SaveFile(pathd, txtd);
}
else
{
return;
}
}
/// <summary>
/// 3D绕行
/// </summary>
@ -89,13 +152,10 @@ namespace FlyCube
List<Vector3[]> abVecs = FileBase.TxtToPos(FliePath, out string[] fightNames);//从txt文件里面读取航点 信息
Vector3[] aVecs = abVecs[0].ToArray();
Vector3[] bVecs = abVecs[1].ToArray();
//Vector3[] new_bVecs = FlyVecFun.ContactABOut(aVecs, bVecs, StrPrint);
//Vector3[] new_aVecs = FlyVecFun.NormalPull(aVecs, bVecs, StrPrintAsync);
List<int> mappingId = new List<int>() { 1,2,3,4,10,7,5,8,9,6};
Vector3[] new_bVecs = FlyVecFun.ContactABOut(aVecs, bVecs, StrPrint);
//Vector3[] new_aVecs = FlyVecFun.NormalPull(aVecs, bVecs, StrPrintAsync);//拉散图案
bool isPass;
Task<List<List<Vector3>>> reTask = Task.Run(() => FlyVecFun.ABypassB(aVecs, bVecs, StrPrintAsync, GetVal, cts.Token, out isPass, mappingId));
Task<List<List<Vector3>>> reTask = Task.Run(() => FlyVecFun.ABypassB(aVecs, bVecs, StrPrintAsync, GetVal, cts.Token, out isPass));
List<List<Vector3>> re = await reTask;
string txta = "";
@ -117,12 +177,12 @@ namespace FlyCube
{
txtc += i + " 0" + " " + re[2][i].X + " " + re[2][i].Y + " " + re[2][i].Z + "\r\n";
}
txtd += i + " 0" + " " + bVecs[i].X + " " + bVecs[i].Y + " " + bVecs[i].Z + "\r\n";
txtd += i + " 0" + " " + new_bVecs[i].X + " " + new_bVecs[i].Y + " " + new_bVecs[i].Z + "\r\n";
}
if (re.Count > 0)
{
string path = "C:/Users/szdot/Desktop/a.txt";
string path = $"C:/Users/szdot/Desktop/a.txt";
if (File.Exists(path))
{
File.Delete(path);
@ -350,7 +410,7 @@ namespace FlyCube
MessageBox.Show("成功");
}
}
/// <summary>
/// 灯光 组

2
FlyCube/Properties/Settings.Designer.cs generated
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@ -12,7 +12,7 @@ namespace FlyCube.Properties {
[global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()]
[global::System.CodeDom.Compiler.GeneratedCodeAttribute("Microsoft.VisualStudio.Editors.SettingsDesigner.SettingsSingleFileGenerator", "17.7.0.0")]
[global::System.CodeDom.Compiler.GeneratedCodeAttribute("Microsoft.VisualStudio.Editors.SettingsDesigner.SettingsSingleFileGenerator", "17.9.0.0")]
internal sealed partial class Settings : global::System.Configuration.ApplicationSettingsBase {
private static Settings defaultInstance = ((Settings)(global::System.Configuration.ApplicationSettingsBase.Synchronized(new Settings())));