CPL/Simulator
6
0
Fork 2
Code Issues 1 Pull Requests Actions Packages Projects Releases Activity

Update Drone.cs

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

32
DroneSimulator/Drone.cs
View File

@ -241,32 +241,40 @@ namespace DroneSimulator
if (Area.Poisition.Freeze.Y) { SpdXYZ.Y = 0; PosXYZ.Y = 0; }
if (Area.Poisition.Freeze.Z) { SpdXYZ.Z = 0; PosXYZ.Z = 5; }
if (PosXYZ.Z < 0)
/*if (PosXYZ.Z < 0)
{
SpdPRY = Vector3.Zero;
SpdXYZ.X = 0;
SpdXYZ.Y = 0;
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();
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;
/*if (SpdXYZ.Z < -5)
{
Active = false; // Сильно ударился о землю
}*/
//if (SpdXYZ.Z < -5)
//{
// Active = false; // Сильно ударился о землю
//}
/*if (MathF.Abs(ori.X) > 20 || MathF.Abs(ori.Y) > 20)
{
Active = false; // Повредил винты при посадке
}*/
//if (MathF.Abs(ori.X) > 20 || MathF.Abs(ori.Y) > 20)
//{
// Active = false; // Повредил винты при посадке
//}
SpdXYZ.Z = 0;
@ -274,7 +282,7 @@ namespace DroneSimulator
Gyr = Vector3.Zero;
LaserRange = 0;
}
else
else*/
{
if (ori.W < 0)
{