CPL/Simulator
5
0
Fork 2
Code Issues 1 Pull Requests Actions Packages Projects Releases Activity

+++

Browse Source
This commit is contained in:
Sergey Sklyarov
2025-05-26 04:47:47 +03:00
parent 2b595ba585
commit 89f4a186ff
6 changed files with 93 additions and 29 deletions
Download Patch File Download Diff File Expand all files Collapse all files

19
DroneSimulator/Drone.cs
View File

@ -199,27 +199,34 @@ namespace DroneSimulator
flow += flow * 0.1f; // Воздушная подушка
}
SpdPRY += AccPRY * (Dynamic * time / (Mass * Length));
float wind_x = 0, wind_y = 0, wind_z = 0;
float wind_p = 0, wind_r = 0, wind_w = 0;
if (Area.Wind.Enable)
{
Quaternion dir = Quaternion.CreateFromAxisAngle(new Vector3(0, 0, 1), Area.Wind.Direction * TO_RADI * 2);
//Quaternion win = new Quaternion(0, 1, 0, 0) * dir;
Quaternion spd = new Quaternion(0, Area.Wind.Speed.From, 0, 0) * dir;
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));
wind_x = 0.5f * Area.Wind.Density * Area.Wind.PosResist * (spd_x * MathF.Abs(spd_x));
wind_y = 0.5f * Area.Wind.Density * Area.Wind.PosResist * (spd_y * MathF.Abs(spd_y));
wind_z = 0.5f * Area.Wind.Density * Area.Wind.PosResist * (spd_z * MathF.Abs(spd_z));
wind_p = 0.5f * Area.Wind.Density * Area.Wind.RotResist * (SpdPRY.X * MathF.Abs(SpdPRY.X));
wind_r = 0.5f * Area.Wind.Density * Area.Wind.RotResist * (SpdPRY.Y * MathF.Abs(SpdPRY.Y));
wind_w = 0.5f * Area.Wind.Density * Area.Wind.RotResist * (SpdPRY.Z * MathF.Abs(SpdPRY.Z));
AccPRY.X -= wind_p; AccPRY.Y -= wind_r; AccPRY.Z -= wind_w;
}
SpdPRY += AccPRY * (Dynamic * time / (Mass * Length));
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 + wind_z) * (Gravity / Mass);
SpdXYZ += (AccXYZ + new Vector3(0, 0, -Gravity)) * time;