commit 3066643bf1501126304c8cbe614aaabe57394f2c Author: tian <4021673@qq.com> Date: Tue Oct 13 10:51:04 2020 +0800 初始版本 diff --git a/.vs/FlyExe/v15/.suo b/.vs/FlyExe/v15/.suo new file mode 100644 index 0000000..7216716 Binary files /dev/null and b/.vs/FlyExe/v15/.suo differ diff --git a/.vs/FlyExe/v15/Server/sqlite3/db.lock b/.vs/FlyExe/v15/Server/sqlite3/db.lock new file mode 100644 index 0000000..e69de29 diff --git a/.vs/FlyExe/v15/Server/sqlite3/storage.ide b/.vs/FlyExe/v15/Server/sqlite3/storage.ide new file mode 100644 index 0000000..8556554 Binary files /dev/null and b/.vs/FlyExe/v15/Server/sqlite3/storage.ide differ diff --git a/.vs/FlyExe/v15/Server/sqlite3/storage.ide-shm b/.vs/FlyExe/v15/Server/sqlite3/storage.ide-shm new file mode 100644 index 0000000..d039af8 Binary files /dev/null and b/.vs/FlyExe/v15/Server/sqlite3/storage.ide-shm differ diff --git a/.vs/FlyExe/v15/Server/sqlite3/storage.ide-wal b/.vs/FlyExe/v15/Server/sqlite3/storage.ide-wal new file mode 100644 index 0000000..06aac5e Binary files /dev/null and b/.vs/FlyExe/v15/Server/sqlite3/storage.ide-wal differ diff --git a/Desktop.ini b/Desktop.ini new file mode 100644 index 0000000..4c04b5d Binary files /dev/null and b/Desktop.ini differ diff --git a/FlyExe.sln b/FlyExe.sln new file mode 100644 index 0000000..6e32d5b --- /dev/null +++ b/FlyExe.sln @@ -0,0 +1,25 @@ + +Microsoft Visual Studio Solution File, Format Version 12.00 +# Visual Studio 15 +VisualStudioVersion = 15.0.28307.1062 +MinimumVisualStudioVersion = 10.0.40219.1 +Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "FlyExe", "FlyExe\FlyExe.csproj", "{BA9182A4-6469-46E6-9F89-A65E88261FE2}" +EndProject +Global + GlobalSection(SolutionConfigurationPlatforms) = preSolution + Debug|Any CPU = Debug|Any CPU + Release|Any CPU = Release|Any CPU + EndGlobalSection + GlobalSection(ProjectConfigurationPlatforms) = postSolution + {BA9182A4-6469-46E6-9F89-A65E88261FE2}.Debug|Any CPU.ActiveCfg = Debug|Any CPU + {BA9182A4-6469-46E6-9F89-A65E88261FE2}.Debug|Any CPU.Build.0 = Debug|Any CPU + {BA9182A4-6469-46E6-9F89-A65E88261FE2}.Release|Any CPU.ActiveCfg = Release|Any CPU + {BA9182A4-6469-46E6-9F89-A65E88261FE2}.Release|Any CPU.Build.0 = Release|Any CPU + EndGlobalSection + GlobalSection(SolutionProperties) = preSolution + HideSolutionNode = FALSE + EndGlobalSection + GlobalSection(ExtensibilityGlobals) = postSolution + SolutionGuid = {FCDEA5F3-C947-41F3-ABB9-2D5410A03A14} + EndGlobalSection +EndGlobal diff --git a/FlyExe/App.xaml b/FlyExe/App.xaml new file mode 100644 index 0000000..8ef8e86 --- /dev/null +++ b/FlyExe/App.xaml @@ -0,0 +1,9 @@ + + + + + diff --git a/FlyExe/App.xaml.cs b/FlyExe/App.xaml.cs new file mode 100644 index 0000000..196dafd --- /dev/null +++ b/FlyExe/App.xaml.cs @@ -0,0 +1,16 @@ +using System; +using System.Collections.Generic; +using System.Configuration; +using System.Data; +using System.Linq; +using System.Windows; + +namespace FlyExe +{ + /// + /// App.xaml 的交互逻辑 + /// + public partial class App : Application + { + } +} diff --git a/FlyExe/FlightRoute.cs b/FlyExe/FlightRoute.cs new file mode 100644 index 0000000..fff5045 --- /dev/null +++ b/FlyExe/FlightRoute.cs @@ -0,0 +1,968 @@ +using System; +using System.Collections; +using System.Collections.Generic; +using System.IO; +using System.Linq; +using System.Text; +using System.Text.RegularExpressions; + + +namespace FlightRoute +{ + //定义坐标系统 结构体 + public struct Vector3 + { + public double x; + public double y; + public double z; + //初始化 + public Vector3(double x, double y, double z) + { + this.x = x; + this.y = y; + this.z = z; + } + //重载二元坐标加法+ + public static Vector3 operator +(Vector3 v1, Vector3 v2) + { + return new Vector3(v1.x + v2.x, v1.y + v2.y, v1.z + v2.z); + } + //重载一元坐标加法+ + public static Vector3 operator +(Vector3 v1, double i) + { + return new Vector3(v1.x + i, v1.y + i, v1.z + i); + } + //重载二元坐标减法- + public static Vector3 operator -(Vector3 v1, Vector3 v2) + { + return new Vector3(v1.x - v2.x, v1.y - v2.y, v1.z - v2.z); + } + //重载一元坐标加法- + public static Vector3 operator -(Vector3 v1, double i) + { + return new Vector3(v1.x - i, v1.y - i, v1.z - i); + } + //重载一元坐标乘法* + public static Vector3 operator *(Vector3 v1, double i) + { + return new Vector3(v1.x * i, v1.y * i, v1.z * i); + } + //重载一元坐标除法/ + public static Vector3 operator /(Vector3 v1, double i) + { + return new Vector3(v1.x / i, v1.y / i, v1.z / i); + } + //重载== + public static bool operator ==(Vector3 v1, Vector3 v2) + { + if (v1.x == v2.x && v1.y == v2.y && v1.z == v2.z) return true; + return false; + } + //重载!= + public static bool operator !=(Vector3 v1, Vector3 v2) + { + if (v1.x != v2.x || v1.y != v2.y || v1.z != v2.z) return true; + return false; + } + //模长 + public double getMag() + { + return Math.Sqrt(Math.Pow(this.x, 2) + Math.Pow(this.y, 2) + Math.Pow(this.z, 2)); + } + //标准化 + public void normalize(double multiple = 1.0) + { + double magSq = Math.Pow(this.x, 2) + Math.Pow(this.y, 2) + Math.Pow(this.z, 2); + if (magSq > 0) + { + double oneOverMag = multiple / Math.Sqrt(magSq); + this.x *= oneOverMag; + this.y *= oneOverMag; + this.z *= oneOverMag; + } + } + //标准化 返回一个标准化之后的值 不改变自身 + public Vector3 normalizEd(double multiple = 1.0) + { + Vector3 re = new Vector3(); + double magSq = Math.Pow(this.x, 2) + Math.Pow(this.y, 2) + Math.Pow(this.z, 2); + if (magSq > 0) + { + double oneOverMag = multiple / Math.Sqrt(magSq); + re.x = this.x * oneOverMag; + re.y = this.y * oneOverMag; + re.z = this.z * oneOverMag; + } + return re; + } + //归零 改变自身数值 一般配合归位使用 + public void setZero(Vector3 v2) + { + this.x -= v2.x; + this.y -= v2.y; + this.z -= v2.z; + } + //归零 返回一个归零值 不改变自身 + public Vector3 setZeroEd(Vector3 v2) + { + Vector3 re = new Vector3(this.x - v2.x, this.y - v2.y, this.z - v2.z); + return re; + } + //归位 + public void setFormerly(Vector3 v2) + { + this.x += v2.x; + this.y += v2.y; + this.z += v2.z; + } + //打印 + public string toString() + { + string x = Convert.ToString(this.x); + string y = Convert.ToString(this.y); + string z = Convert.ToString(this.z); + return string.Format($"X轴:{x} Y轴:{y} Z轴:{z}"); + } + } + //坐标操作与验证 + public static class FlyBase + { + //逐行读取 文档 + private static string[] readFile(string path) + { + StreamReader sr = new StreamReader(path, Encoding.Default); + String line; + ArrayList arrlist = new ArrayList(); + while ((line = sr.ReadLine()) != null) + { + arrlist.Add(line); + } + if (arrlist.Count == 1)//判断 svg的文件内容 是否写在一行里面 + { + string temp = (string)arrlist[0]; + string[] strArray = Regex.Split(temp, "/>"); + return strArray; + } + string[] arr = new string[arrlist.Count]; + int key = 0; + foreach (var item in arrlist) + { + arr[key] = (string)item; + key++; + } + return arr; + } + //svg航点坐标文档 转坐标集合 PS:灯光映射 支持格式 + public static Vector3[] svgToPosForLight(string path) + { + //读取文档内容 + string[] arr; + arr = FlyBase.readFile(path); + //获取飞机x轴 z轴 坐标 + ArrayList tempVec = new ArrayList();//记录飞机坐标 + string cx = @"cx=""(?\-{0,1}\d*\.{0,1}\d*)"""; + string cy = @"cy=""(?\-{0,1}\d*\.{0,1}\d*)"""; + string r = @"r=""(?\d*\.{0,1}\d*)"""; + foreach (string item in arr) + { + if (item.IndexOf("= 0)//找到svg里面标签 + { + Regex reg = new Regex(cx); + string strX = reg.Match(item).Groups["mark"].ToString();//正则匹配获取x轴 + reg = new Regex(cy); + string strZ = reg.Match(item).Groups["mark"].ToString();//正则匹配获取y轴 在三维里面用作z轴 + double x = Convert.ToDouble(strX); + double z = Convert.ToDouble(strZ); + tempVec.Add(new Vector3(x, 0, z)); + } + } + Vector3[] vec = arrToVec(tempVec);//把arrlist转换成坐标集合 + return vec;//返回坐标集合 + } + //txt航点坐标文档 转坐标集合 PS:目前是C4D坐标文档 + public static List txtToPos(string path, out string[] flightPointNames) + { + //读取文档内容 + string[] arr; + arr = FlyBase.readFile(path); + //处理文档内容 + int group = 0;//获取有几组坐标 + foreach (string item in arr) + { + if (item.IndexOf(" ") <= 0)//找到航点名称 + { + group++; + } + } + int planesCou = (arr.Length - group) / group;//获取飞机总数 + flightPointNames = new string[group];//记录航点名称 + int gKey = 0;//航点名称数组下标 + int pKey = 0;//所有坐标序号 + Vector3[] pos = new Vector3[planesCou];//临时记录飞机坐标 + List re = new List();//返回值 + for (int i = 0; i < arr.Length; i++) + { + if (i % (planesCou + 1) == 0)//分析是否是航点名称 行 + { + flightPointNames[gKey] = arr[i];//记录航点名称 + gKey++; + } + else//否则 当坐标行处理 + { + string[] tempArr = arr[i].Split(' ');//每行坐标分割 + pos[pKey % planesCou] = new Vector3(Convert.ToDouble(tempArr[1]), Convert.ToDouble(tempArr[2]), Convert.ToDouble(tempArr[3])); + if (pKey % planesCou == planesCou - 1)//当一组组标循环完成 之后记录到返回组 + { + re.Add(pos); + pos = new Vector3[planesCou];//重新new一下 更新内存地址 + } + pKey++; + } + } + return re;//out flightPointNames 输出航点名称,re返回值 返回航点集合 + } + //svg航点坐标文档 转坐标集合 + public static Vector3[] svgToPos(string path) + { + //读取文档内容 + string[] arr; + arr = FlyBase.readFile(path); + //获取飞机x轴 z轴 坐标 + ArrayList tempVec = new ArrayList();//记录飞机坐标 + string cx = @"cx=""(?\-{0,1}\d*\.{0,1}\d*)"""; + string cy = @"cy=""(?\-{0,1}\d*\.{0,1}\d*)"""; + string r = @"r=""(?\d*\.{0,1}\d*)"""; + foreach (string item in arr) + { + if (item.IndexOf("= 0)//找到svg里面标签 + { + Regex reg = new Regex(cx); + string strX = reg.Match(item).Groups["mark"].ToString();//正则匹配获取x轴 + reg = new Regex(cy); + string strZ = reg.Match(item).Groups["mark"].ToString();//正则匹配获取y轴 在三维里面用作z轴 + reg = new Regex(r); + string radius = reg.Match(item).Groups["mark"].ToString();//正则匹配获取球半径 + //按比例缩放(半径为100公分) 获取世界坐标 + double Rate = 100 / Convert.ToDouble(radius); + double x = Rate * Convert.ToDouble(strX); + double z = Rate * Convert.ToDouble(strZ) * -1; + tempVec.Add(new Vector3(x, 0, z)); + } + } + //坐标集原点相对位置 移到坐标集质心 + Vector3[] vec = arrToVec(tempVec);//把arrlist转换成坐标集合 + Vector3 centerPos = getPosCenter(vec);//获取中心点 + int key = 0; + foreach (Vector3 item in vec) + { + item.setZero(centerPos); + vec[key] = item; + key++; + } + return vec;//返回坐标集合 + } + //obj航点坐标文档 转坐标集合 + public static Vector3[] objToPos(string path) + { + //读取文档内容 + string[] arr; + arr = FlyBase.readFile(path); + //获取飞机x轴 z轴 坐标 + string pCou = @"#\s+(?\d*)\s+vertices";//匹配obj里面标记点的数量 + string pPos = @"v\s+(?\-{0,1}\d*\.{0,1}\d*)\s+(?\-{0,1}\d*\.{0,1}\d*)\s+(?\-{0,1}\d*\.{0,1}\d*)"; + int linage = 0;//行数 + string tempPos;//临时记录一下 xyz坐标 + ArrayList tempVec = new ArrayList();//记录飞机坐标 + foreach (string item in arr) + { + Regex reg = new Regex(pCou); + string cou = reg.Match(item).Groups["mark"].ToString();//正则匹配获取x轴 + if (cou != "") + { + for (int i = Convert.ToInt32(cou); i > 0; i--) + { + tempPos = arr[linage - i]; + reg = new Regex(pPos); + string strX = reg.Match(tempPos).Groups["markX"].ToString(); + string strY = reg.Match(tempPos).Groups["markY"].ToString(); + string strZ = reg.Match(tempPos).Groups["markZ"].ToString(); + tempVec.Add(new Vector3(Convert.ToDouble(strX), Convert.ToDouble(strY), Convert.ToDouble(strZ))); + } + } + linage++; + } + //坐标集原点相对位置 移到坐标集质心 + Vector3[] vec = arrToVec(tempVec);//把arrlist转换成坐标集合 + //重新定义中心点为原点 + //Vector3 centerPos = getPosCenter(vec);//获取中心点 + //int key = 0; + //foreach (Vector3 item in vec) + //{ + // item.setZero(centerPos); + // vec[key] = item; + // key++; + //} + return vec;//返回坐标集合 + } + //Arraylist 转 Vector3[] 坐标集 + private static Vector3[] arrToVec(ArrayList arr) + { + int cou = arr.Count; + Vector3[] re = new Vector3[cou]; + int key = 0; + foreach (Vector3 item in arr) + { + re[key] = item; + key++; + } + return re; + } + //数组最大值 最小值 + private static double getMaxOrMin(double[] arr, bool isMax = true) + { + ArrayList list = new ArrayList(arr); + list.Sort(); + if (isMax) return Convert.ToDouble(list[list.Count - 1]); + else return Convert.ToDouble(list[0]); + + } + //二维数组打成一维 去掉重复 + private static ArrayList twoArrToArr(ArrayList twoArr) + { + ArrayList arr = new ArrayList(); + foreach (int[] item in twoArr) + { + int i = arr.IndexOf(item[0]); + if (i < 1) arr.Add(item[0]); + int x = arr.IndexOf(item[1]); + if (x < 1) arr.Add(item[1]); + } + return arr; + } + private static List twoArrToArr(List twoArr)//重写 泛值List int[] + { + List arr = new List(); + foreach (int[] item in twoArr) + { + int i = arr.IndexOf(item[0]); + if (i < 1) arr.Add(item[0]); + int x = arr.IndexOf(item[1]); + if (x < 1) arr.Add(item[1]); + } + return arr; + } + //两点距离 + private static double gageLength(Vector3 v1, Vector3 v2) + { + return Math.Sqrt(Math.Pow(v1.x - v2.x, 2) + Math.Pow(v1.y - v2.y, 2) + Math.Pow(v1.z - v2.z, 2)); + } + //点乘 用来求朝向 返回0到1之间 + private static double dotPro(Vector3 v1, Vector3 v2) + { + return v1.x * v2.x + v1.y * v2.y + v1.z * v2.z; + } + //叉乘 + private static Vector3 crossPro(Vector3 v1, Vector3 v2) + { + double x = v1.y * v2.z - v1.z * v2.y; + double y = v1.z * v2.x - v1.x * v2.z; + double z = v1.x * v2.y - v1.y * v2.x; + return new Vector3(x, y, z); + } + //坐标置换 向量乘以矩阵(i帽j帽k帽)得到置换后的向量坐标 ps:x指向i帽 y轴指向j帽 z轴指向k帽 + private static Vector3 matrixMul(Vector3 vec, Vector3[] mat)//vec:要变换的向量 mat:矩阵标量 + { + Vector3 re = new Vector3();//声明返回值 + re.x = vec.x * mat[0].x + vec.y * mat[1].x + vec.z * mat[2].x; + re.y = vec.x * mat[0].y + vec.y * mat[1].y + vec.z * mat[2].y; + re.z = vec.x * mat[0].z + vec.y * mat[1].z + vec.z * mat[2].z; + return re; + } + //两条线段之间的最近距离 + private static bool IsEqual(double a, double b) + { + if (Math.Abs(a - b) < 1e-7) + { + return true; + } + return false; + } + private static double[] recentlyOfLine(Vector3 a1, Vector3 a2, Vector3 b1, Vector3 b2) + { + if (a1 == a2) a2 += 1; + if (b1 == b2) b2 += 1; + double ux = a2.x - a1.x; + double uy = a2.y - a1.y; + double uz = a2.z - a1.z; + double vx = b2.x - b1.x; + double vy = b2.y - b1.y; + double vz = b2.z - b1.z; + double wx = a1.x - b1.x; + double wy = a1.y - b1.y; + double wz = a1.z - b1.z; + double a = (ux * ux + uy * uy + uz * uz); + double b = (ux * vx + uy * vy + uz * vz); + double c = (vx * vx + vy * vy + vz * vz); + double d = (ux * wx + uy * wy + uz * wz); + double e = (vx * wx + vy * wy + vz * wz); + double dt = a * c - b * b; + double sd = dt; + double td = dt; + double sn = 0.0; + double tn = 0.0; + if (IsEqual(dt, 0.0)) + { + sn = 0.0; + sd = 1.00; + tn = e; + td = c; + } + else + { + sn = (b * e - c * d); + tn = (a * e - b * d); + if (sn < 0.0) + { + sn = 0.0; + tn = e; + td = c; + } + else if (sn > sd) + { + sn = sd; + tn = e + b; + td = c; + } + } + if (tn < 0.0) + { + tn = 0.0; + if (-d < 0.0) sn = 0.0; + else if (-d > a) sn = sd; + else + { + sn = -d; + sd = a; + } + } + else if (tn > td) + { + tn = td; + if ((-d + b) < 0.0) sn = 0.0; + else if ((-d + b) > a) sn = sd; + else + { + sn = (-d + b); + sd = a; + } + + } + double sc = 0.0; + double tc = 0.0; + if (IsEqual(sn, 0.0)) sc = 0.0; + else sc = sn / sd; + if (IsEqual(tn, 0.0)) tc = 0.0; + else tc = tn / td; + double dx = wx + (sc * ux) - (tc * vx); + double dy = wy + (sc * uy) - (tc * vy); + double dz = wz + (sc * uz) - (tc * vz); + double[] re = new double[3]; + re[0] = sc;//最近点在第一条线占比 + re[1] = tc;//最近点在第二条线占比 + re[2] = Math.Sqrt(dx * dx + dy * dy + dz * dz);//两线最近距离 + return re; + } + //获取坐标组重心或中心 + private static Vector3 getPosCenter(Vector3[] pos, bool isCentroid = true) + { + int cou = pos.Length; + if (isCentroid)//重心 + { + double x = 0; + double y = 0; + double z = 0; + foreach (var item in pos) + { + x += item.x; + y += item.y; + z += item.z; + } + x = x / cou; + y = y / cou; + z = z / cou; + return new Vector3(x, y, z); + } + else + { + double[] x = new double[cou]; + double[] y = new double[cou]; + double[] z = new double[cou]; + int key = 0; + foreach (var item in pos) + { + x[key] = item.x; + y[key] = item.y; + z[key] = item.z; + key++; + } + double xc = (getMaxOrMin(x) + getMaxOrMin(x, false)) * .5; + double yc = (getMaxOrMin(y) + getMaxOrMin(y, false)) * .5; + double zc = (getMaxOrMin(z) + getMaxOrMin(z, false)) * .5; + return new Vector3(xc, yc, zc); + } + } + /* + //从最外层AB规划路径 + private static void contactABOut(Vector3[] aPos, Vector3[] bPos,bool stressRefresh = true) + { + if (!stressRefresh)//不刷新重心 初始化重心 + { + Vector3[] abPos = new Vector3[aPos.Length + bPos.Length]; + aPos.CopyTo(abPos, 0); + bPos.CopyTo(abPos, aPos.Length); + Vector3 centerPos=getPosCenter(abPos);//重心 + } + while (aPos.Length != 0) + { + if (stressRefresh)//刷新重心 + { + Vector3[] abPos = new Vector3[aPos.Length + bPos.Length]; + aPos.CopyTo(abPos, 0); + bPos.CopyTo(abPos, aPos.Length); + Vector3 centerPos = getPosCenter(abPos);//重心 + } + + } + } + */ + //输出日志回调函数 + public delegate void SomeCalculateWay(string str); + //碰撞检测 + public static List airImitation(Vector3[] startPos, Vector3[] endPos, double lineDistance = 180, double spaceBetween = 900, int checkFps = 10) + { + int cou = startPos.Length;//飞机总数 + //获取所有飞行时间 和航线距离 + double[] planesLen = new double[cou];//记录所有航线距离 + double[] planesFlyTime = new double[cou];//记录所有飞行时间 + for (int i = 0; i < cou; i++) + { + double len = gageLength(startPos[i], endPos[i]);//距离 + planesLen[i] = len; + double flyTime = len / 300;//时间 + planesFlyTime[i] = flyTime; + } + //选出航线有交叉的飞机 用于模拟飞行碰撞检测 + List needCheck = new List();//需要检查的飞机 二维数组 记录交叉组 + List distances = new List();//记录所有需要检查飞机 航线的最短距离 + for (int i = 0; i < cou; i++) + { + for (int x = 0; x < cou; x++) + { + if (i + 1 + x < cou) + { + double distance = recentlyOfLine(startPos[i], endPos[i], startPos[i + 1 + x], endPos[i + 1 + x])[2];//航线距离 + if (distance < lineDistance) + { + int[] z = new int[] { i, i + 1 + x }; + needCheck.Add(z); + distances.Add(distance); + } + } + else break; + } + } + //碰撞检测 + List planesCollision = new List();//记录碰撞组 + for (int i = 0; i < needCheck.Count; i++) + { + double zongTime; + int frist = (needCheck[i])[0];//第一架 + int second = (needCheck[i])[1];//第二架 + Vector3 fristFormerly = endPos[frist];//记第一架 终点原位 + Vector3 secondFormerly = endPos[second];//记第二架 终点原位 + //获取对比飞机 飞行时间较长的时间 + if (planesFlyTime[frist] >= planesFlyTime[second]) zongTime = planesFlyTime[frist] + 1;//最长飞行时间 多加1秒放bug + else zongTime = planesFlyTime[second] + 1;//最长飞行时间 多加1秒放bug + Convert.ToInt32(zongTime); + //以帧为单位计算 检测对比飞机之间距离 + for (int currentTime = 0; currentTime < zongTime * checkFps; currentTime++) + { + endPos[frist].setZero(startPos[frist]);//归零 + endPos[frist].normalize(300 / checkFps * currentTime);//当前时间飞行 标准化长度 坐标 + if (endPos[frist].getMag() >= planesLen[frist]) endPos[frist] = fristFormerly;//溢出距离 当前坐标定义为终点位置 + else endPos[frist].setFormerly(startPos[frist]);//归位 当前时间飞机坐标 + + endPos[second].setZero(startPos[second]);//归零 + endPos[second].normalize(300 / checkFps * currentTime);//当前时间飞行 标准化长度 坐标 + if (endPos[second].getMag() >= planesLen[second]) endPos[second] = secondFormerly;//溢出距离 当前坐标定义为终点位置 + else endPos[second].setFormerly(startPos[second]);//归位 当前时间飞机坐标 + + //判断距离 碰撞记录id + if (gageLength(endPos[frist], endPos[second]) < spaceBetween + 300 * ((double)distances[i] / lineDistance))//间距小于 基础间距+300*(航线实际距离/航线检测最小距离) 既:例基础间距+航线距离的反比 + { + endPos[frist] = fristFormerly;//第一架 终点回归原位 + endPos[second] = secondFormerly;//第二架 终点回归原位 + int[] z = new int[] { frist, second }; + planesCollision.Add(z); + break; + } + endPos[frist] = fristFormerly;//第一架 终点回归原位 + endPos[second] = secondFormerly;//第二架 终点回归原位 + } + } + return planesCollision;//返回二维数组 飞机ID从0开始 + } + //单机碰撞检测 + public static bool onlyImitation(int onlyPlaneId, Vector3[] startPos, Vector3[] endPos, double lineDistance = 190, double spaceBetween = 1600, int checkFps = 10)//飞机id从0开始 + { + //指定飞机 起始坐标 终点坐标 飞行时间 + Vector3 onlyStartVec = startPos[onlyPlaneId]; + Vector3 onlyEndVec = endPos[onlyPlaneId]; + double onlyFlyTime = gageLength(onlyStartVec, onlyEndVec) / 300; + //选出与指定飞机 航线有交叉的飞机 用于模拟飞行碰撞检测 + for (int contrastId = 0; contrastId < startPos.Length; contrastId++) + { + if (onlyPlaneId == contrastId) continue;//不和自己比较 + Vector3 StartVec = startPos[contrastId];//对比飞机起始坐标 + Vector3 EndVec = endPos[contrastId];//对比飞机结束坐标 + // 判断两条轨迹 之间的最小距离 + double distance = recentlyOfLine(onlyStartVec, onlyEndVec, StartVec, EndVec)[2];//航线最小距离 + if (distance < lineDistance) + { + double flyTime = gageLength(EndVec, StartVec) / 300;//获取飞行总时间 + //指定飞机 和 当前比较飞机 以飞行时间长得为总时间 + int zongFlyTime;//声明 以航线较长的飞行时间 为总时长 + if (onlyFlyTime >= flyTime) zongFlyTime = (int)onlyFlyTime + 1;//总时间延长一到两秒 + else zongFlyTime = (int)flyTime + 1;//总时间延长一到两秒 + //碰撞检测 + for (int currentTime = 0; currentTime < zongFlyTime * checkFps; currentTime++) + { + //飞机当前坐标 + Vector3 onlyCurrentVec = onlyEndVec.setZeroEd(onlyStartVec);//归零的　当前坐标 + onlyCurrentVec.normalize(300 / checkFps * currentTime);//当前时间飞行 标准化长度 坐标 + if (onlyCurrentVec.getMag() >= gageLength(onlyEndVec, onlyStartVec)) onlyCurrentVec = onlyEndVec;//溢出距离 当前坐标定义为终点位置 + else onlyCurrentVec.setFormerly(onlyStartVec);//归位 当前时间飞机坐标 + + //要进行比较飞机 当前坐标 + Vector3 currentVec = EndVec.setZeroEd(StartVec);//归零的　当前坐标 + currentVec.normalize(300 / checkFps * currentTime);//当前时间飞行 标准化长度 坐标 + if (currentVec.getMag() >= gageLength(EndVec, StartVec)) currentVec = EndVec;//溢出距离 当前坐标定义为终点位置 + else currentVec.setFormerly(StartVec);//归位 当前时间飞机坐标 + + double planeLen = gageLength(onlyCurrentVec, currentVec);//获取检测飞机s 当前间距 + //间距小于 基础间距+800*(航线实际距离/航线检测最小距离) 既:例基础间距+航线距离的反比 + if (planeLen < spaceBetween + 300 * (distance / lineDistance)) + { + return true;//返回有碰撞 + } + } + } + } + return false;//返回没有碰撞; + } + //智能挫层 + public static ArrayList collisionLayer(Vector3[] startPos, Vector3[] endPos, string axes = "y") + { + //获取所有碰撞飞机id + List planesCollisionInt = new List();//声明碰撞id组 + int key = 0; + foreach (var item in startPos)//遍历所有飞机 单体检测碰撞 + { + if (onlyImitation(key, startPos, endPos)) planesCollisionInt.Add(key);//如果碰撞 添加到碰撞id组 + key++; + } + //记录第一图案原位 + double defaultPos = startPos[0].y; + //有碰撞飞机先拉开 + int k = 0; + foreach (int i in planesCollisionInt) + { + startPos[i].y = startPos[i].y + 9400 + k * 300; + k++; + } + //中间航点挫层 + foreach (int i in planesCollisionInt) + { + int shiftCou = 0;//记录循环次数 + while (true) + { + if (shiftCou % 2 == 1) + { + startPos[i].y = defaultPos + (shiftCou + 1) / 2 * 350; + endPos[i].y = defaultPos + (shiftCou + 1) / 2 * 350; + } + else + { + startPos[i].y = defaultPos + shiftCou / 2 * -350; + endPos[i].y = defaultPos + shiftCou / 2 * -350; + } + if (!(onlyImitation(i, startPos, endPos))) break;//如果 不碰撞跳出 + shiftCou++; + } + } + ArrayList middle = new ArrayList(); + middle.Add(startPos); + middle.Add(endPos); + return middle;//返回一个二维向量数组 middle[0]是第一个中间航点 middle[1]是第二个中间航点 + } + //添加中间航点 群组 + private static Vector3[] setMiddleCurvedValue(Vector3[] startPos, Vector3[] endPos, double middlePos = 0.5, double scale = 1) + { + int cou = startPos.Length;//飞机总数 + Vector3[] mps = new Vector3[cou]; + //算中间航点 + for (int i = 0; i < cou; i++) + { + Vector3 ap = startPos[i]; + Vector3 bp = endPos[i]; + mps[i] = (bp - ap) * middlePos + ap; + } + Vector3 centerPos = getPosCenter(mps);//计算所有中间航点的重心点 + //中间航点缩放 + for (int i = 0; i < cou; i++) + { + mps[i] = (mps[i] - centerPos) * scale + centerPos + .1; + } + return mps; + } + //添加中间航点 单体 + private static Vector3 setOddMiddleCurvedValue(Vector3 startPos, Vector3 endPos, double middlePos = 0.5) + { + //算中间航点 + Vector3 mp = (endPos - startPos) * middlePos + startPos + .1; + return mp; + } + //3D绕行与让行 ps:起点s 中点s 终点s 需要检查的ID组 绕行比例 每个比例的绕行次数 绕行的法线偏移距离 + private static Vector3[] ABypassB(Vector3[] startPos, Vector3[] middlePos, Vector3[] endPos, List check, double[] mRate, int loopIndex = 800, double offsetDistance = 60)//法线螺旋线绕行 + { + Console.WriteLine("check:{0}", check.Count); + bool pa; + //设置绕行 + foreach (int id in check) + { + pa = false; + Vector3 initialPos = middlePos[id];//记录初始位置 如果绕行不成功 还原位置 + for (int k = 0; k < mRate.Length; k++) + { + //初始化位置 + middlePos[id] = setOddMiddleCurvedValue(startPos[id], endPos[id], mRate[k]); + //碰撞绕行 + for (int i = 0; i < loopIndex; i++) + { + if (i != 0)//第一次保证原位置 ps:先不移动位置 检测一次 移动其他飞机之后 可能让本架飞机不碰撞 + { + //获取法线向量 + Vector3 a = startPos[id]; + Vector3 b = endPos[id]; + Vector3 c = middlePos[id]; + Vector3 mp = FlyBase.crossPro(a - c, b - c);//乘差算 坐标原点上面的法线 方向向量 + if (k % 2 == 0) mp.normalize(offsetDistance);//正螺旋 + else mp.normalize(offsetDistance * -1);//逆螺旋 + middlePos[id] = mp + c; + } + //碰撞检测 + if (onlyImitation(id, startPos, middlePos)) continue;//前半段检测 + if (onlyImitation(id, middlePos, endPos)) continue;//后半段检测 + pa = true; + break; + } + if (pa) break; + } + if (!pa) middlePos[id] = initialPos;//让行不成功 位置还原 + } + return middlePos; + } + private static List threeStageABypassB(Vector3[] startPos, Vector3[] fMiddlePos, Vector3[] middlePos, Vector3[] bMiddlePos, Vector3[] endPos, List check, double[] mRate)//三段绕 + { + //初始化 + double[] fmRate = { 0 }; + double[] bmRate = { 1 }; + //二段绕行 + foreach (int id in check) + { + bool pa = false; + Vector3 initialPos = middlePos[id];//记录初始位置 如果绕行不成功 还原位置 + for (int k = 0; k < mRate.Length; k++) + { + + //初始化位置 + middlePos[id] = setOddMiddleCurvedValue(startPos[id], endPos[id], mRate[k]); + //二段碰撞绕行 + for (int i = 0; i < 800; i++) + { + if (i != 0)//第一次保证原位置 ps:先不移动位置 检测一次 移动其他飞机之后 可能让本架飞机不碰撞 + { + //获取法线向量 + Vector3 a = startPos[id]; + Vector3 b = endPos[id]; + Vector3 c = middlePos[id]; + Vector3 mp = FlyBase.crossPro(a - c, b - c);//乘差算 坐标原点上面的法线 方向 + mp.normalize(60); + middlePos[id] = mp + c; + } + //绕一段 和 三段 + Vector3[] tempFMiddlePos;//临时存放 一段 + Vector3[] tempBMiddlePos;//临时存放 三段 + List xId = new List();//临时存放当前id 用于绕行方法 + xId.Add(id); + if (onlyImitation(id, startPos, middlePos) || onlyImitation(id, middlePos, endPos))//因为二段改变位置 检测直接二段绕行 是否通过 + { + tempFMiddlePos = FlyBase.ABypassB(startPos, fMiddlePos, middlePos, xId, fmRate, 45, 90);//一段绕行 + if (onlyImitation(id, startPos, tempFMiddlePos)) continue;//检测一段 前 重新循环二段 + else if (onlyImitation(id, tempFMiddlePos, middlePos)) continue;//检测一段 后 重新循环二段 + + tempBMiddlePos = FlyBase.ABypassB(middlePos, bMiddlePos, endPos, xId, bmRate, 45, 90);//三段绕行 + if (onlyImitation(id, startPos, tempBMiddlePos)) continue;//检测三段 前 重新循环二段 + else if (onlyImitation(id, fMiddlePos, middlePos)) continue;//检测三段 后 重新循环二段 + + fMiddlePos = tempFMiddlePos;//如果通过 更新一段坐标 + bMiddlePos = tempBMiddlePos;//如果通过 更新三段坐标 + } + pa = true; + break;//跳出 + } + if (pa) break; + } + if (!pa) middlePos[id] = initialPos;//绕行不成功 位置还原 + } + List re = new List(); + re.Add(fMiddlePos); + re.Add(middlePos); + re.Add(bMiddlePos); + return re; + } + private static List ABNeedCheck(Vector3[] startPos, Vector3[] middlePos, Vector3[] endPos)//前航点到中间航点 中间航点到终点 所有碰撞飞机id + { + List re = new List(); + //获取从起点到中点再到结束点 所有碰撞飞机 + int key = 0; + foreach (var item in startPos) + { + if (onlyImitation(key, startPos, middlePos) || onlyImitation(key, middlePos, endPos)) re.Add(key);//记录 起点到中点 或者 中点到终点有碰撞的飞机 + key++; + } + return re; + } + public static List exeABypassB(Vector3[] startPos, Vector3[] endPos, out bool isSuccess, SomeCalculateWay strPrint)//绕行获取中间航点 + { + isSuccess = false; + List middlePosS = new List();//声明返回坐标集合 可能是1 到 3组坐标 既 1到3个中间航点 + List check = new List();//记录需要绕行的id组 + List checkEd = new List();//复查绕行未通过的id组 + //中段绕行 初始化 + double[] mRate = { .5, .6, .4, .7, .3 };//中点绕行的比例 + Vector3[] middlePos = setMiddleCurvedValue(startPos, endPos, 0.5, 1.2);//加中间航点 + bool pa = false; + strPrint("中(二)段绕行开始"); + while (true)//中段绕行循环 + { + //前中后所有碰撞的飞机id + check = ABNeedCheck(startPos, middlePos, endPos); + //绕行 + if (check.Count != 0)//有碰撞 + { + middlePos = ABypassB(startPos, middlePos, endPos, check, mRate); + } + //重新检查碰撞 + checkEd = ABNeedCheck(startPos, middlePos, endPos); + if (checkEd.Count == 0)//如果绕行没有碰撞 + { + //strPrint("成功"); + middlePosS.Add(middlePos);//添加中间坐标组 + isSuccess = true; + return middlePosS;//第一次绕行 没有碰撞 直接返回 + } + if (check.SequenceEqual(checkEd)) + { + if (pa)//判定第二次　check 和 checkEd一致 + { + //strPrint("一致跳出");//如果一个中间航点 算不过去 跳出然后 进行三段绕行 + break;//连续两次check 和 checkEd一致 跳出 + } + pa = true; + } + else pa = false; + } + //一段绕行初始化 + Vector3[] fMiddlePos = setMiddleCurvedValue(startPos, middlePos, 0, 1); + double[] fmRate = { 0, .05, .1, .15, .2 };//中点绕行的比例 + pa = false; + check = ABNeedCheck(startPos, fMiddlePos, middlePos); + if (check.Count != 0)//检测是否进行一段循环 + { + strPrint("一段绕行开始"); + while (true)//一段绕行 循环体 + { + //前中后所有碰撞的飞机id + check = ABNeedCheck(startPos, fMiddlePos, middlePos); + if (check.Count != 0) fMiddlePos = ABypassB(startPos, fMiddlePos, middlePos, check, fmRate, 1500, 15);//有碰撞 绕行 + else//没有碰撞 添加返回值并跳出 一段绕行 循环 + { + //strPrint("成功"); + isSuccess = true; + middlePosS.Add(fMiddlePos);//添加一段 绕行结果 + break; + } + //重新检查碰撞 + checkEd = ABNeedCheck(startPos, fMiddlePos, middlePos); + //多次绕行 结果相同 则判定未能成功通过 但是也会添加 绕行结果 + if (check.SequenceEqual(checkEd))//如果两次 碰撞检测结果完全相同 + { + if (pa)//判定第二次　check 和 checkEd一致 + { + //strPrint("一致跳出");//如果一个中间航点 算不过去 跳出然后 进行三段绕行 + isSuccess = false; + middlePosS.Add(fMiddlePos);//添加一段 绕行结果 + break;//连续两次check 和 checkEd一致 跳出 + } + pa = true; + } + else pa = false; + } + } + //添加中段绕行结果 + middlePosS.Add(middlePos); + //三段绕行初始化 + Vector3[] bMiddlePos = setMiddleCurvedValue(middlePos, endPos, 1, 1); + double[] bmRate = { 1, .95, 0.9, .85, .8 };//中点绕行的比例 + pa = false; + check = ABNeedCheck(middlePos, bMiddlePos, endPos); + if (check.Count != 0)//检测是否进行三段循环 + { + strPrint("三段绕行开始"); + while (true)//一段绕行 循环体 + { + //前中后所有碰撞的飞机id + check = ABNeedCheck(middlePos, bMiddlePos, endPos); + if (check.Count != 0) bMiddlePos = ABypassB(middlePos, bMiddlePos, endPos, check, bmRate, 1500, 15);//有碰撞　绕行 + else//没有碰撞 添加返回值并跳出 三段绕行 循环 + { + //strPrint("成功"); + isSuccess = true; + middlePosS.Add(bMiddlePos);//添加三段 绕行结果 + break; + } + //重新检查碰撞 + checkEd = ABNeedCheck(middlePos, bMiddlePos, endPos); + //多次绕行 结果相同 则判定未能成功通过 但是也会添加 绕行结果 + if (check.SequenceEqual(checkEd))//如果两次 碰撞检测结果完全相同 + { + if (pa)//判定第二次　check 和 checkEd一致 + { + //strPrint("一致跳出");//如果一个中间航点 算不过去 跳出然后 进行三段绕行 + isSuccess = false; + middlePosS.Add(bMiddlePos);//添加三段 绕行结果 + break;//连续两次check 和 checkEd一致 跳出 + } + pa = true; + } + else pa = false; + } + } + //三段绕行未果 进行三点同时绕行 + + return middlePosS; + } + + } +} diff --git a/FlyExe/FlyExe.csproj b/FlyExe/FlyExe.csproj new file mode 100644 index 0000000..9a55531 --- /dev/null +++ b/FlyExe/FlyExe.csproj @@ -0,0 +1,100 @@ + + + + + Debug + AnyCPU + {BA9182A4-6469-46E6-9F89-A65E88261FE2} + WinExe + FlyExe + FlyExe + v4.0 + 512 + {60dc8134-eba5-43b8-bcc9-bb4bc16c2548};{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC} + 4 + true + + + AnyCPU + true + full + false + bin\Debug\ + DEBUG;TRACE + prompt + 4 + + + AnyCPU + pdbonly + true + bin\Release\ + TRACE + prompt + 4 + + + lnk.ico + + + + + + + + + + + 4.0 + + + + + + + + MSBuild:Compile + Designer + + + MSBuild:Compile + Designer + + + App.xaml + Code + + + + MainWindow.xaml + Code + + + + + Code + + + True + True + Resources.resx + + + True + Settings.settings + True + + + ResXFileCodeGenerator + Resources.Designer.cs + + + SettingsSingleFileGenerator + Settings.Designer.cs + + + + + + + \ No newline at end of file diff --git a/FlyExe/MainWindow.xaml b/FlyExe/MainWindow.xaml new file mode 100644 index 0000000..d95de09 --- /dev/null +++ b/FlyExe/MainWindow.xaml @@ -0,0 +1,14 @@ + + +