CPL/Simulator
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Update Drone.cs

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This commit is contained in:
Sergey Sklyarov
2025-06-19 01:07:53 +03:00
parent 15d4fa5011
commit 3e4973a129
1 changed files with 20 additions and 12 deletions
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32
DroneSimulator/Drone.cs
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@ -241,32 +241,40 @@ namespace DroneSimulator
if (Area.Poisition.Freeze.Y) { SpdXYZ.Y = 0; PosXYZ.Y = 0; } if (Area.Poisition.Freeze.Y) { SpdXYZ.Y = 0; PosXYZ.Y = 0; }
if (Area.Poisition.Freeze.Z) { SpdXYZ.Z = 0; PosXYZ.Z = 5; } if (Area.Poisition.Freeze.Z) { SpdXYZ.Z = 0; PosXYZ.Z = 5; }
if (PosXYZ.Z < 0) /*if (PosXYZ.Z < 0)
{ {
SpdPRY = Vector3.Zero; SpdPRY = Vector3.Zero;
SpdXYZ.X = 0; SpdXYZ.X = 0;
SpdXYZ.Y = 0; SpdXYZ.Y = 0;
Quat = Quaternion.Identity; Quat = Quaternion.Identity;
} }
else Rotate(SpdPRY.X * time, SpdPRY.Y * time, SpdPRY.Z * time); else */
Rotate(SpdPRY.X * time, SpdPRY.Y * time, SpdPRY.Z * time);
Vector4 ori = GetOrientation(); Vector4 ori = GetOrientation();
Orientation = ori; Orientation = ori;
if (PosXYZ.Z < 0) if(PosXYZ.Z < 0)
{
PosXYZ.Z = 0;
SpdXYZ.Z = 0;
LaserRange = 0;
}
/*if (PosXYZ.Z < 0)
{ {
PosXYZ.Z = 0; PosXYZ.Z = 0;
/*if (SpdXYZ.Z < -5) //if (SpdXYZ.Z < -5)
{ //{
Active = false; // Сильно ударился о землю // Active = false; // Сильно ударился о землю
}*/ //}
/*if (MathF.Abs(ori.X) > 20 || MathF.Abs(ori.Y) > 20) //if (MathF.Abs(ori.X) > 20 || MathF.Abs(ori.Y) > 20)
{ //{
Active = false; // Повредил винты при посадке // Active = false; // Повредил винты при посадке
}*/ //}
SpdXYZ.Z = 0; SpdXYZ.Z = 0;
@ -274,7 +282,7 @@ namespace DroneSimulator
Gyr = Vector3.Zero; Gyr = Vector3.Zero;
LaserRange = 0; LaserRange = 0;
} }
else else*/
{ {
if (ori.W < 0) if (ori.W < 0)
{ {