Security_Engine: Camera Field of View bug fix

Security_Engine/Compute/CameraFieldOfView.cs

@@ -73,8 +73,8 @@ public static PolyCurve CameraFieldOfView(this CameraDevice cameraDevice, List<P
             {
                 if (obstacle.IsContaining(new List<Point> { cameraLocation }, true, distanceTolerance))
                 {
-                    Base.Compute.RecordWarning("Camera Device is inside obstacle. Null value will be returned.");
-                    return null;
+                    Base.Compute.RecordWarning("Camera Device is inside obstacle that will be skipped.");
+                    continue;
                 }
 
                 foreach (Line obstLine in obstacle.SubParts())
@@ -129,7 +129,7 @@ public static PolyCurve CameraFieldOfView(this CameraDevice cameraDevice, List<P
             //create points chain
             List<Point> pointsChain = linesDict.PointsChain(cameraLocation, radius, distanceTolerance);
 
-            //create cone
+            //create camera cone
             PolyCurve cameraViewPolyCurve = pointsChain.CameraViewPolyCurve(coneArc, distanceTolerance);
 
             return cameraViewPolyCurve;
@@ -323,6 +323,9 @@ private static List<Point> PointsChain(this List<Tuple<Line, Polyline>> lineObst
             pointsChain = pointsChain.CullDuplicates(tolerance);
             pointsChain.Add(cameraLocation);
 
+            //reverse points chain to have correct start and end arc angles
+            pointsChain.Reverse();
+
             return pointsChain;
         }
 
@@ -345,14 +348,15 @@ private static PolyCurve CameraViewPolyCurve(this List<Point> pointsChain, Arc c
                 {
                     double p1Param = coneArc.ParameterAtPoint(pt1, tolerance);
                     double p2Param = coneArc.ParameterAtPoint(pt2, tolerance);
-                    double p3Param = (p1Param + p2Param) / 2;
-                    Point pt3 = coneArc.PointAtParameter(p3Param);
-                    Arc newArc = BH.Engine.Geometry.Create.Arc(pt1, pt3, pt2, tolerance);
+                    double startAngle = coneArc.EndAngle * p1Param;
+                    double endAngle = coneArc.EndAngle * p2Param;
+                    Arc newArc = Create.Arc(coneArc.CoordinateSystem, coneArc.Radius, startAngle, endAngle);
+
                     curves.Add(newArc);
                 }
                 else
                 {
-                    Line line = BH.Engine.Geometry.Create.Line(pt1, pt2);
+                    Line line = Create.Line(pt1, pt2);
                     curves.Add(line);
                 }
             }

Security_Engine/Modify/SimplifyCameraFieldOfView.cs

@@ -52,6 +52,7 @@ public static PolyCurve SimplifyCameraFieldOfView(this PolyCurve cameraFieldOfVi
 
             //convert to polyline and simplify
             List<Line> cameraLines = new List<Line>();
+
             foreach (ICurve curve in cameraFieldOfView.SubParts())
             {
                 if (curve is Line)
@@ -62,6 +63,7 @@ public static PolyCurve SimplifyCameraFieldOfView(this PolyCurve cameraFieldOfVi
                     cameraLines.Add(line);
                 }
             }
+
             Polyline cameraPolyline = Geometry.Create.Polyline(cameraLines);
             cameraPolyline = cameraPolyline.Simplify(distanceTolerance, angleTolerance);
 
@@ -82,12 +84,17 @@ public static PolyCurve SimplifyCameraFieldOfView(this PolyCurve cameraFieldOfVi
                     double p2Param = coneArc.ParameterAtPoint(endPoint, distanceTolerance);
                     double p3Param = (p1Param + p2Param) / 2;
                     Point pt3 = coneArc.PointAtParameter(p3Param);
+
                     if (!cameraFieldOfView.IsContaining(new List<Point>() { pt3 }, true, distanceTolerance))
                     {
                         simplifiedPolyCurve.Curves.Add(line);
                         continue;
                     }
-                    Arc newArc = BH.Engine.Geometry.Create.Arc(startPoint, pt3, endPoint, distanceTolerance);
+
+                    double startAngle = coneArc.EndAngle * p1Param;
+                    double endAngle = coneArc.EndAngle * p2Param;
+                    Arc newArc = Geometry.Create.Arc(coneArc.CoordinateSystem, coneArc.Radius, startAngle, endAngle);
+
                     simplifiedPolyCurve.Curves.Add(newArc);
                 }
                 else

Security_Engine/Query/ViewCone.cs

@@ -20,13 +20,13 @@
  * along with this code. If not, see <https://www.gnu.org/licenses/lgpl-3.0.html>.      
  */
 
-using System.ComponentModel;
+using BH.Engine.Geometry;
+using BH.oM.Base.Attributes;
 using BH.oM.Geometry;
 using BH.oM.Security.Elements;
-using BH.oM.Base.Attributes;
-using System.Collections.Generic;
-using BH.Engine.Geometry;
 using System;
+using System.Collections.Generic;
+using System.ComponentModel;
 
 namespace BH.Engine.Security
 {
@@ -50,6 +50,9 @@ public static PolyCurve ViewCone(this CameraDevice cameraDevice)
             double coneArcLength = cameraDevice.HorizontalFieldOfView;
             double coneAngle = Math.Asin(coneArcLength / (2 * coneRadius)) * 2;
 
+            if (double.IsNaN(coneAngle))
+                coneAngle = Math.PI;
+
             Vector viewDirection = BH.Engine.Geometry.Create.Vector(cameraLocation, cameraDevice.TargetPosition);
             Vector startPointDir = viewDirection.Rotate(-coneAngle / 2, Vector.ZAxis);
             Vector endPointDir = viewDirection.Rotate(coneAngle / 2, Vector.ZAxis);