using BHJD.DEMdll.Public;
using Unity.Mathematics;
namespace QuYuSaoMiao
{
public class GeDianShengCheng
{
public static DemHelper DemHelper()
{
IDbHelper db = Factory.Load("10.130.100.5", "5432", "postgres", "postgres", "rescue_patrol_platform");
DemHelper ddemHelper = new DemHelper(db);
return ddemHelper;
}
public static double[,] MaxMinPoly(List<double[]> poly) //多边形矩形边界
{
List<double> PolyLon = new List<double>();
List<double> PolyLat = new List<double>();
foreach (double[] element in poly)
{
PolyLon.Add(element[0]);
PolyLat.Add(element[1]);
}
double[,] MM1 = new double[2, 2];
MM1[0, 0] = PolyLon.Min(); //经度最小（西界）
MM1[0, 1] = PolyLon.Max(); //经度最大（东界）
MM1[1, 0] = PolyLat.Min(); //纬度最小（南界）
MM1[1, 1] = PolyLat.Max(); //纬度最大（北界）
return MM1;
}
public static bool isinpoly(double[] zuobiao, List<double[]> poly, DemHelper demHelper) //已经替换成在边界内算法
{
double[,] polyOut = MaxMinPoly(poly);
if (zuobiao[0] <= polyOut[0, 0] || zuobiao[0] >= polyOut[0, 1] || zuobiao[1] <= polyOut[1, 0] ||
zuobiao[1] >= polyOut[1, 1])
{
return false;
}
else
{
string polystring = "MULTIPOLYGON(((";
foreach (double[] element in poly)
{
double e0 = element[0];
double e1 = element[1];
polystring = polystring + element[0] + " " + element[1] + ",";
}
polystring = polystring + poly[0][0] + " " + poly[0][1] + ")))";
string pointstring = "POINT (" + zuobiao[0] + " " + zuobiao[1] + ")";
// Console.WriteLine("isinpoly?");
//Console.WriteLine(pointstring+polystring);
string r1 = demHelper.doDetermine(pointstring, polystring);
// Console.WriteLine(r1);
//double[,] polyOut = MaxMinPoly(poly);
//if (zuobiao[0] <= polyOut[0, 0] || zuobiao[0] >= polyOut[0, 1] || zuobiao[1] <= polyOut[1, 0] || zuobiao[1] >= polyOut[1, 1])
// { return false; }
// else
//{
return (r1 == "True" ? true : false);
// }
}
}
//格点生成方法：输入前四个为经纬度上下限，数组为多边形，后两个是经纬度分辨率。输出0经，1纬，2高，3是否被侦察的【01】变量。
public static List<double[]> NPGenerate(double lonmin, double lonmax, double latmin, double latmax,
List<double[]> juxing, double netscalelon, double netscalelat, DemHelper demHelper)
{
Console.WriteLine("格点生成");
List<double[]> netpoints = new List<double[]>();
for (double[] netpointprev = new double[3] { lonmin, latmax, 0 };
netpointprev[1] >= latmin;
netpointprev[1] = netpointprev[1] - netscalelat)
{
for (netpointprev[0] = lonmin;
netpointprev[0] <= lonmax;
netpointprev[0] = netpointprev[0] + netscalelon)
{
if (isinpoly(netpointprev, juxing, demHelper) == true)
{
double HH = 0; //需要替换为该点【netpointprev[0], netpointprev[1]】高程
double[] netpointtemp = new double[3] { netpointprev[0], netpointprev[1], HH };
//netpointtemp = netpointprev;
netpoints.Add(netpointtemp);
}
}
}
return netpoints;
}
//格点初始化
public static List<bool> NPprem(List<double[]> NPcoo)
{
List<bool> NPprem0 = new List<bool>();
int i = 0;
foreach (double[] element in NPcoo)
{
//object[] NPrentemp = new object[4] { element[0], element[1], element[2], false };
NPprem0.Add(false);
i++;
}
return NPprem0;
}
//格点显示,可以不用
public static void ListPoints(List<double[]> NPtoRead)
{
int i1 = 0;
int i2 = 0;
int i3;
int irow;
int iLine = 1;
Console.Write("{");
foreach (double[] element in NPtoRead)
{
if (i1 != 0 && element[1] != NPtoRead[i1 - 1][1])
{
i3 = i1 - 1;
irow = i3 - i2 + 1;
i2 = i1;
iLine++;
Console.Write("<本行格点数：" + irow + ">}" + Environment.NewLine + "{");
}
string lontax = element[0].ToString("F5");
string lattax = element[1].ToString("F5");
Console.Write("【E" + lontax + " | N" + lattax + " | h" + element[2] + "】\t");
i1++;
}
i3 = i1 - 1;
irow = i3 - i2 + 1;
i2 = i1;
Console.Write("<本行格点数：" + irow + ">}" + Environment.NewLine);
int numberP = NPtoRead.Count;
Console.WriteLine("行数:" + iLine + ";格点数量:" + numberP);
}
//两点间距计算，输出米
public static double distance(double[] P1, double[] P2, DemHelper demHelper)
{
//double DL = 6371.004 * Math.Acos(Math.Sin(Math.PI / 180 * P1[1]) * Math.Sin(Math.PI / 180 * P2[1]) + Math.Cos(Math.PI / 180 * P1[1]) * Math.Cos(Math.PI / 180 * P2[1]) * Math.Cos(Math.PI / 180 * (P1[0] - P2[0]))) * 1000;
//double D = Math.Pow(Math.Pow(DL, 2) + Math.Pow(P1[2] - P2[2], 2), 0.5);
//return D;
double3 p1 = new double3();
double3 p2 = new double3();
p1.x = P1[0];
p1.y = P1[1];
p1.z = P1[2];
p2.x = P2[0];
p2.y = P2[1];
p2.z = P2[2];
double D1 = demHelper.getDistance(p1, p2);
//double DD1 = D1;
//Console.WriteLine("距离：" + D1);
return D1;
}
//两点间高度角计算，从P1到P2
public static double angleH(double[] P1, double[] P2, DemHelper demHelper)
{
if (P1[2] == P2[2])
{
return 0;
}
else if (P1[0] == P2[0] && P1[1] == P2[1])
{
if (P1[2] < P2[2])
{
return 90;
}
else
{
return -90;
}
}
else
{
//if (P1[2] < P2[2])
//{
double angleH = Math.Asin((P2[2] - P1[2]) / distance(P1, P2, demHelper)) * (180 / Math.PI);
return angleH;
//}
//else
//{
// double angleH = Math.Asin((P2[2] - P1[2]) / distance(P1, P2)) * (180 / Math.PI);
// return angleH;
//}
}
}
//MoveTo，输入单位坐标、目标坐标，输出时步结束时的单位坐标
public static double[] MoveTo(double[] aircraft, double[] target, double V, double TimeStep,
DemHelper demHelper)
{
double[] direction =
{
(target[0] - aircraft[0]) / distance(aircraft, target, demHelper),
(target[1] - aircraft[1]) / distance(aircraft, target, demHelper),
(target[2] - aircraft[2]) / distance(aircraft, target, demHelper)
};
double[] delta = { direction[0] * V * TimeStep, direction[1] * V * TimeStep, direction[2] * V * TimeStep };
double[] next = { aircraft[0] + delta[0], aircraft[1] + delta[1], aircraft[2] + delta[2] };
return next;
}
public static bool isBlocked(double[] P1, double[] P2, DemHelper demHelper) //是否被地形遮挡
{
double3 p1 = new double3();
double3 p2 = new double3();
p1.x = P1[0];
p1.y = P1[1];
p1.z = P1[2];
p2.x = P2[0];
p2.y = P2[1];
p2.z = P2[2];
//string r2 = demHelper.doIntervisibility(p1, p2);//这三行代码用于运行判定
// Console.WriteLine(r2);
//return (r2 == "True" ? false : true);
return false;
}
//是否符合观察条件
public static bool IsInSight(double[] aircraft, double[] netpoint, double LSight, double angleH0,
double angleH1, DemHelper demHelper) //-90，-45
{
if (distance(aircraft, netpoint, demHelper) <= LSight && angleH0 <= angleH(aircraft, netpoint, demHelper) &&
angleH1 >= angleH(aircraft, netpoint, demHelper) && isBlocked(aircraft, netpoint, demHelper) == false)
{
return true;
}
else
{
return false;
}
}
//路径生成，输入区域边界，扫描线间距，扫描高度
/// <summary>
///
/// </summary>
/// <param name="poly">想定文件 </param>
/// <param name="ScanRange">想定文件 低空：300 高空：</param>
/// <param name="hSC">想定文件 低空 300</param>
/// <param name="isRealHeight">想定文件 true</param>
/// <param name="isSurround">想定文件 true</param>
/// <param name="SurroundNum">想定文件 1</param>
/// <param name="demHelper">想定文件 </param>
/// <returns></returns>
public static List<double[]> scanroute(List<double[]> poly, double ScanRange, double hSC, bool isRealHeight,
bool isSurround, int SurroundNum, DemHelper demHelper)
{
List<double[]> scanroute = new List<double[]>();
double HH = 1; //需要替换为该点高程
if (isSurround == false)
{
double[,] RactEdge = MaxMinPoly(poly);
double[] searchpoint =
{
RactEdge[0, 0] + 0.5 *
(ScanRange / (6371004 * Math.Cos(RactEdge[1, 0] * Math.PI / 180) * 2 * Math.PI / 360)),
RactEdge[1, 0], HH + hSC
};
bool isLastIn = false;
int ZF = 1;
if (isinpoly(searchpoint, poly, demHelper) == true)
{
scanroute.Add(searchpoint);
isLastIn = true;
}
searchpoint[1] = searchpoint[1] + ZF * 0.5 * (ScanRange / (6371004 * 2 * Math.PI / 360));
for (;; searchpoint[1] = searchpoint[1] + ZF * 0.5 * (ScanRange / (6371004 * 2 * Math.PI / 360)))
{
double[] searchpoint1 =
{
searchpoint[0], searchpoint[1] - ZF * 0.5 * (ScanRange / (6371004 * 2 * Math.PI / 360)),
isRealHeight == true ? HH + hSC : hSC
};
double[] searchpoint0 = { searchpoint[0], searchpoint[1], isRealHeight == true ? HH + hSC : hSC };
if (isinpoly(searchpoint, poly, demHelper) == true && isLastIn == false)
{
scanroute.Add(searchpoint1);
isLastIn = true;
}
else if (isLastIn == true && isinpoly(searchpoint, poly, demHelper) == false)
{
scanroute.Add(searchpoint0);
isLastIn = false;
if (ZF == 1)
{
searchpoint[0] = searchpoint[0] + ScanRange /
(6371004 * Math.Cos(RactEdge[1, 0] * Math.PI / 180) * 2 * Math.PI / 360);
searchpoint[1] = RactEdge[1, 1] + 0.5 * (ScanRange / (6371004 * 2 * Math.PI / 360));
}
else
{
searchpoint[0] = searchpoint[0] + ScanRange /
(6371004 * Math.Cos(RactEdge[1, 0] * Math.PI / 180) * 2 * Math.PI / 360);
searchpoint[1] = RactEdge[1, 0] - 0.5 * (ScanRange / (6371004 * 2 * Math.PI / 360));
}
ZF = -ZF;
}
if (searchpoint[0] > RactEdge[0, 1])
{
break;
}
}
return scanroute;
}
else
{
int len = poly.Count;
for (int i = 0; i < len; i++)
{
double[] p = poly[i];
double[] p1 = poly[i == 0 ? len - 1 : i - 1];
double[] p2 = poly[i == len - 1 ? 0 : i + 1];
double v1EW = (p1[0] - p[0]) * (6371004 * Math.Cos(p[1] * Math.PI / 180) * 2 * Math.PI / 360);
double v1SN = (p1[1] - p[1]) * (6371004 * 2 * Math.PI / 360);
double n1 = Math.Sqrt(v1EW * v1EW + v1SN * v1SN);
v1EW /= n1;
v1SN /= n1;
double v2EW = (p2[0] - p[0]) * (6371004 * Math.Cos(p[1] * Math.PI / 180) * 2 * Math.PI / 360);
double v2SN = (p2[1] - p[1]) * (6371004 * 2 * Math.PI / 360);
double n2 = Math.Sqrt(v2EW * v2EW + v2SN * v2SN);
v2EW /= n2;
v2SN /= n2;
if (v1EW != v2EW)
{
double l = -ScanRange / Math.Sqrt((1 - (v1EW * v2EW + v1SN * v2SN)) / 2);
double vEW = v1EW + v2EW;
double vSN = v1SN + v2SN;
double n = l / Math.Sqrt(vEW * vEW + vSN * vSN);
vEW *= n;
vSN *= n;
double VEW = vEW / (6371004 * Math.Cos(p[1] * Math.PI / 180) * 2 * Math.PI / 360);
double VSN = vSN / (6371004 * 2 * Math.PI / 360);
double[] searchpoint =
{ p[0] + VEW, p[1] + VSN, isRealHeight == true ? HH + hSC : hSC }; //H需替换为该点高程
scanroute.Add(searchpoint);
}
}
int len2 = scanroute.Count;
if (SurroundNum >= 2)
{
for (int i = 2; i <= SurroundNum; i++)
{
for (int j = 0; j < len2; j++)
{
scanroute.Add(scanroute[j]);
}
}
}
return scanroute;
}
}
//航线转object
public static List<object[]> RouteInput(string TurningPointName, List<double[]> TurningPointLocation,
string TurningPointType, double TurningPointVelocity, double SegmentFlightFuelConsumption,
double SegmentFlightTime, double TurningRadius)
{
List<object[]> SCIP = new List<object[]>();
int i = 0;
foreach (double[] element in TurningPointLocation)
{
object[] SCIPtemt =
{
$"{TurningPointName}{i}", element, $"{TurningPointType}", TurningPointVelocity,
SegmentFlightFuelConsumption, SegmentFlightTime, TurningRadius
};
SCIP.Add(SCIPtemt);
i++;
}
return SCIP;
}
//扫描线显示，不用管
public static void ListscanRoute(List<double[]> SCtoRead)
{
Console.WriteLine("【showSC】");
foreach (double[] element in SCtoRead)
{
string lontax = element[0].ToString("F5");
string lattax = element[1].ToString("F5");
Console.WriteLine("【E" + lontax + " | N" + lattax + " | h" + element[2] + "】\t");
}
}
}
}