CPL/Simulator
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Sergey Sklyarov
2025-05-23 19:48:37 +03:00
parent 3d39f7da12
commit 2b595ba585
3 changed files with 66 additions and 11 deletions
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34
DroneSimulator/Drone.cs
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@ -81,16 +81,28 @@ namespace DroneSimulator
return mem;
}
public struct DataVisual
public VisualData.VisualDrone GetVisual(int count, int index)
{
public int ID; // Идентификатор
public float W, X, Y, Z; // Кватернион вращения
public float PosX, PosY, PosZ; // Координаты в пространстве
}
VisualData.VisualDrone drone = new VisualData.VisualDrone();
public DataVisual GetVisual()
{
return new DataVisual() { ID = this.ID, W = this.Quat.W, X = this.Quat.X, Y = this.Quat.Y, Z = this.Quat.Z, PosX = this.PosXYZ.X, PosY = this.PosXYZ.Y, PosZ = this.PosXYZ.Z };
drone.Head.Size = Marshal.SizeOf(typeof(VisualData.VisualDrone));
drone.Head.Type = VisualData.VisualHead.VisualType.Drone;
drone.Count = count;
drone.Index = index;
drone.ID = ID;
drone.Color.A = 255; drone.Color.R = 255; drone.Color.G = 0; drone.Color.B = 0;
drone.Rotate.X = Quat.X; drone.Rotate.Y = Quat.Y; drone.Rotate.Z = Quat.Z; drone.Rotate.W = Quat.W;
drone.Position.X = PosXYZ.X; drone.Position.Y = PosXYZ.Y; drone.Position.Z = PosXYZ.Z;
drone.Scale = 1.0f;
drone.State = VisualData.VisualDrone.DroneState.Active;
drone.Power = Power;
return drone;
}
private void ThreadFunction()
@ -189,7 +201,7 @@ namespace DroneSimulator
SpdPRY += AccPRY * (Dynamic * time / (Mass * Length));
float wind_x = 0, wind_y = 0;
float wind_x = 0, wind_y = 0, wind_z = 0;
if (Area.Wind.Enable)
{
@ -201,13 +213,15 @@ namespace DroneSimulator
float spd_x = spd.X - SpdXYZ.X;
float spd_y = spd.Y - SpdXYZ.Y;
float spd_z = spd.Z - SpdXYZ.Z;
wind_x = 0.5f * Area.Wind.Density * Area.Wind.Resist * (spd_x * MathF.Abs(spd_x));
wind_y = 0.5f * Area.Wind.Density * Area.Wind.Resist * (spd_y * MathF.Abs(spd_y));
wind_z = 0.5f * Area.Wind.Density * Area.Wind.Resist * (spd_z * MathF.Abs(spd_z));
}
Quaternion pow = Quaternion.Inverse(Quat) * new Quaternion(0, 0, flow, 0) * Quat;
AccXYZ = new Vector3(pow.X + wind_x, pow.Y + wind_y, pow.Z) * (Gravity / Mass);
AccXYZ = new Vector3(pow.X + wind_x, pow.Y + wind_y, pow.Z + wind_z) * (Gravity / Mass);
SpdXYZ += (AccXYZ + new Vector3(0, 0, -Gravity)) * time;
PosXYZ += SpdXYZ * time;