CPL/Simulator
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Sergey Sklyarov
2025-05-26 04:47:47 +03:00
parent 2b595ba585
commit 89f4a186ff
6 changed files with 93 additions and 29 deletions
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27
DroneClient/FormMain.Designer.cs generated
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@ -74,6 +74,8 @@
label17 = new Label(); label17 = new Label();
label_OF_X = new Label(); label_OF_X = new Label();
label19 = new Label(); label19 = new Label();
trackBar_Value = new TrackBar();
label4 = new Label();
groupBox1.SuspendLayout(); groupBox1.SuspendLayout();
((System.ComponentModel.ISupportInitialize)numericUpDown_Server_Port).BeginInit(); ((System.ComponentModel.ISupportInitialize)numericUpDown_Server_Port).BeginInit();
groupBox2.SuspendLayout(); groupBox2.SuspendLayout();
@ -81,6 +83,7 @@
groupBox4.SuspendLayout(); groupBox4.SuspendLayout();
((System.ComponentModel.ISupportInitialize)trackBar_Power).BeginInit(); ((System.ComponentModel.ISupportInitialize)trackBar_Power).BeginInit();
groupBox5.SuspendLayout(); groupBox5.SuspendLayout();
((System.ComponentModel.ISupportInitialize)trackBar_Value).BeginInit();
SuspendLayout(); SuspendLayout();
// //
// timer_Test // timer_Test
@ -536,11 +539,33 @@
label19.TabIndex = 4; label19.TabIndex = 4;
label19.Text = "X:"; label19.Text = "X:";
// //
// trackBar_Value
//
trackBar_Value.Location = new Point(349, 240);
trackBar_Value.Maximum = 100;
trackBar_Value.Minimum = 1;
trackBar_Value.Name = "trackBar_Value";
trackBar_Value.Orientation = Orientation.Vertical;
trackBar_Value.Size = new Size(45, 195);
trackBar_Value.TabIndex = 25;
trackBar_Value.Value = 1;
//
// label4
//
label4.AutoSize = true;
label4.Location = new Point(347, 219);
label4.Name = "label4";
label4.Size = new Size(47, 15);
label4.TabIndex = 26;
label4.Text = "POWER";
//
// Form_Main // Form_Main
// //
AutoScaleDimensions = new SizeF(7F, 15F); AutoScaleDimensions = new SizeF(7F, 15F);
AutoScaleMode = AutoScaleMode.Font; AutoScaleMode = AutoScaleMode.Font;
ClientSize = new Size(446, 447); ClientSize = new Size(446, 447);
Controls.Add(label4);
Controls.Add(trackBar_Value);
Controls.Add(groupBox5); Controls.Add(groupBox5);
Controls.Add(button_MR); Controls.Add(button_MR);
Controls.Add(button_ML); Controls.Add(button_ML);
@ -570,6 +595,7 @@
((System.ComponentModel.ISupportInitialize)trackBar_Power).EndInit(); ((System.ComponentModel.ISupportInitialize)trackBar_Power).EndInit();
groupBox5.ResumeLayout(false); groupBox5.ResumeLayout(false);
groupBox5.PerformLayout(); groupBox5.PerformLayout();
((System.ComponentModel.ISupportInitialize)trackBar_Value).EndInit();
ResumeLayout(false); ResumeLayout(false);
PerformLayout(); PerformLayout();
} }
@ -621,5 +647,6 @@
private Label label17; private Label label17;
private Label label_OF_X; private Label label_OF_X;
private Label label19; private Label label19;
private TrackBar trackBar_Value;
} }
} }

2
DroneClient/FormMain.cs
View File

@ -128,7 +128,7 @@ namespace DroneSimulator
private void button_UU_MouseDown(object sender, MouseEventArgs e) private void button_UU_MouseDown(object sender, MouseEventArgs e)
{ {
const float pow = 0.1f; float pow = ((float)trackBar_Value.Value) / 10.0f;
if (sender == button_UU) if (sender == button_UU)
{ {

3
DroneSimulator/Area.cs
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@ -20,7 +20,8 @@ namespace DroneSimulator
public struct Speed { public static float From, To; } public struct Speed { public static float From, To; }
public static float Direction; public static float Direction;
public static float Density; public static float Density;
public static float Resist; public static float PosResist;
public static float RotResist;
} }
} }
} }

19
DroneSimulator/Drone.cs
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@ -199,27 +199,34 @@ namespace DroneSimulator
flow += flow * 0.1f; // Воздушная подушка flow += flow * 0.1f; // Воздушная подушка
} }
SpdPRY += AccPRY * (Dynamic * time / (Mass * Length));
float wind_x = 0, wind_y = 0, wind_z = 0; float wind_x = 0, wind_y = 0, wind_z = 0;
float wind_p = 0, wind_r = 0, wind_w = 0;
if (Area.Wind.Enable) if (Area.Wind.Enable)
{ {
Quaternion dir = Quaternion.CreateFromAxisAngle(new Vector3(0, 0, 1), Area.Wind.Direction * TO_RADI * 2); 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; Quaternion spd = new Quaternion(0, Area.Wind.Speed.From, 0, 0) * dir;
float spd_x = spd.X - SpdXYZ.X; float spd_x = spd.X - SpdXYZ.X;
float spd_y = spd.Y - SpdXYZ.Y; float spd_y = spd.Y - SpdXYZ.Y;
float spd_z = spd.Z - SpdXYZ.Z; float spd_z = spd.Z - SpdXYZ.Z;
wind_x = 0.5f * Area.Wind.Density * Area.Wind.Resist * (spd_x * MathF.Abs(spd_x)); 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.Resist * (spd_y * MathF.Abs(spd_y)); 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.Resist * (spd_z * MathF.Abs(spd_z)); 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; 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); 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; SpdXYZ += (AccXYZ + new Vector3(0, 0, -Gravity)) * time;

68
DroneSimulator/FormMain.Designer.cs generated
View File

@ -155,7 +155,9 @@
radioButton_Real = new RadioButton(); radioButton_Real = new RadioButton();
tabPage_Area = new TabPage(); tabPage_Area = new TabPage();
groupBox4 = new GroupBox(); groupBox4 = new GroupBox();
numericUpDown_Area_Wind_Resist = new NumericUpDown(); numericUpDown_Area_Wind_RotResist = new NumericUpDown();
label65 = new Label();
numericUpDown_Area_Wind_PosResist = new NumericUpDown();
label64 = new Label(); label64 = new Label();
label63 = new Label(); label63 = new Label();
numericUpDown_Area_Wind_Density = new NumericUpDown(); numericUpDown_Area_Wind_Density = new NumericUpDown();
@ -234,7 +236,8 @@
groupBox2.SuspendLayout(); groupBox2.SuspendLayout();
tabPage_Area.SuspendLayout(); tabPage_Area.SuspendLayout();
groupBox4.SuspendLayout(); groupBox4.SuspendLayout();
((System.ComponentModel.ISupportInitialize)numericUpDown_Area_Wind_Resist).BeginInit(); ((System.ComponentModel.ISupportInitialize)numericUpDown_Area_Wind_RotResist).BeginInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_Area_Wind_PosResist).BeginInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_Area_Wind_Density).BeginInit(); ((System.ComponentModel.ISupportInitialize)numericUpDown_Area_Wind_Density).BeginInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_Area_Wind_Speed_To).BeginInit(); ((System.ComponentModel.ISupportInitialize)numericUpDown_Area_Wind_Speed_To).BeginInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_Area_Wind_Direction).BeginInit(); ((System.ComponentModel.ISupportInitialize)numericUpDown_Area_Wind_Direction).BeginInit();
@ -1629,7 +1632,9 @@
// //
// groupBox4 // groupBox4
// //
groupBox4.Controls.Add(numericUpDown_Area_Wind_Resist); groupBox4.Controls.Add(numericUpDown_Area_Wind_RotResist);
groupBox4.Controls.Add(label65);
groupBox4.Controls.Add(numericUpDown_Area_Wind_PosResist);
groupBox4.Controls.Add(label64); groupBox4.Controls.Add(label64);
groupBox4.Controls.Add(label63); groupBox4.Controls.Add(label63);
groupBox4.Controls.Add(numericUpDown_Area_Wind_Density); groupBox4.Controls.Add(numericUpDown_Area_Wind_Density);
@ -1646,31 +1651,51 @@
groupBox4.Dock = DockStyle.Top; groupBox4.Dock = DockStyle.Top;
groupBox4.Location = new Point(0, 53); groupBox4.Location = new Point(0, 53);
groupBox4.Name = "groupBox4"; groupBox4.Name = "groupBox4";
groupBox4.Size = new Size(210, 150); groupBox4.Size = new Size(210, 177);
groupBox4.TabIndex = 1; groupBox4.TabIndex = 1;
groupBox4.TabStop = false; groupBox4.TabStop = false;
groupBox4.Text = "Air and Wind"; groupBox4.Text = "Air and Wind";
// //
// numericUpDown_Area_Wind_Resist // numericUpDown_Area_Wind_RotResist
// //
numericUpDown_Area_Wind_Resist.DecimalPlaces = 3; numericUpDown_Area_Wind_RotResist.DecimalPlaces = 3;
numericUpDown_Area_Wind_Resist.Increment = new decimal(new int[] { 1, 0, 0, 131072 }); numericUpDown_Area_Wind_RotResist.Increment = new decimal(new int[] { 1, 0, 0, 65536 });
numericUpDown_Area_Wind_Resist.Location = new Point(63, 116); numericUpDown_Area_Wind_RotResist.Location = new Point(89, 145);
numericUpDown_Area_Wind_Resist.Maximum = new decimal(new int[] { 1, 0, 0, 0 }); numericUpDown_Area_Wind_RotResist.Maximum = new decimal(new int[] { 1000, 0, 0, 0 });
numericUpDown_Area_Wind_Resist.Name = "numericUpDown_Area_Wind_Resist"; numericUpDown_Area_Wind_RotResist.Name = "numericUpDown_Area_Wind_RotResist";
numericUpDown_Area_Wind_Resist.Size = new Size(60, 23); numericUpDown_Area_Wind_RotResist.Size = new Size(60, 23);
numericUpDown_Area_Wind_Resist.TabIndex = 13; numericUpDown_Area_Wind_RotResist.TabIndex = 15;
numericUpDown_Area_Wind_Resist.Value = new decimal(new int[] { 1, 0, 0, 131072 }); numericUpDown_Area_Wind_RotResist.Value = new decimal(new int[] { 1, 0, 0, 0 });
numericUpDown_Area_Wind_Resist.ValueChanged += numericUpDown_Area_Wind_Update; numericUpDown_Area_Wind_RotResist.ValueChanged += numericUpDown_Area_Wind_Update;
//
// label65
//
label65.AutoSize = true;
label65.Location = new Point(6, 147);
label65.Name = "label65";
label65.Size = new Size(77, 15);
label65.TabIndex = 14;
label65.Text = "Rotate Resist:";
//
// numericUpDown_Area_Wind_PosResist
//
numericUpDown_Area_Wind_PosResist.DecimalPlaces = 3;
numericUpDown_Area_Wind_PosResist.Location = new Point(89, 116);
numericUpDown_Area_Wind_PosResist.Maximum = new decimal(new int[] { 1000, 0, 0, 0 });
numericUpDown_Area_Wind_PosResist.Name = "numericUpDown_Area_Wind_PosResist";
numericUpDown_Area_Wind_PosResist.Size = new Size(60, 23);
numericUpDown_Area_Wind_PosResist.TabIndex = 13;
numericUpDown_Area_Wind_PosResist.Value = new decimal(new int[] { 100, 0, 0, 0 });
numericUpDown_Area_Wind_PosResist.ValueChanged += numericUpDown_Area_Wind_Update;
// //
// label64 // label64
// //
label64.AutoSize = true; label64.AutoSize = true;
label64.Location = new Point(13, 118); label64.Location = new Point(6, 118);
label64.Name = "label64"; label64.Name = "label64";
label64.Size = new Size(40, 15); label64.Size = new Size(73, 15);
label64.TabIndex = 12; label64.TabIndex = 12;
label64.Text = "Resist:"; label64.Text = "Move Resist:";
// //
// label63 // label63
// //
@ -1777,7 +1802,7 @@
// checkBox_Area_Wind_Enable // checkBox_Area_Wind_Enable
// //
checkBox_Area_Wind_Enable.AutoSize = true; checkBox_Area_Wind_Enable.AutoSize = true;
checkBox_Area_Wind_Enable.Location = new Point(165, 125); checkBox_Area_Wind_Enable.Location = new Point(165, 149);
checkBox_Area_Wind_Enable.Name = "checkBox_Area_Wind_Enable"; checkBox_Area_Wind_Enable.Name = "checkBox_Area_Wind_Enable";
checkBox_Area_Wind_Enable.Size = new Size(39, 19); checkBox_Area_Wind_Enable.Size = new Size(39, 19);
checkBox_Area_Wind_Enable.TabIndex = 0; checkBox_Area_Wind_Enable.TabIndex = 0;
@ -1987,7 +2012,8 @@
tabPage_Area.ResumeLayout(false); tabPage_Area.ResumeLayout(false);
groupBox4.ResumeLayout(false); groupBox4.ResumeLayout(false);
groupBox4.PerformLayout(); groupBox4.PerformLayout();
((System.ComponentModel.ISupportInitialize)numericUpDown_Area_Wind_Resist).EndInit(); ((System.ComponentModel.ISupportInitialize)numericUpDown_Area_Wind_RotResist).EndInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_Area_Wind_PosResist).EndInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_Area_Wind_Density).EndInit(); ((System.ComponentModel.ISupportInitialize)numericUpDown_Area_Wind_Density).EndInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_Area_Wind_Speed_To).EndInit(); ((System.ComponentModel.ISupportInitialize)numericUpDown_Area_Wind_Speed_To).EndInit();
((System.ComponentModel.ISupportInitialize)numericUpDown_Area_Wind_Direction).EndInit(); ((System.ComponentModel.ISupportInitialize)numericUpDown_Area_Wind_Direction).EndInit();
@ -2151,7 +2177,9 @@
private Label label63; private Label label63;
private NumericUpDown numericUpDown_Area_Wind_Density; private NumericUpDown numericUpDown_Area_Wind_Density;
private Label label62; private Label label62;
private NumericUpDown numericUpDown_Area_Wind_Resist; private NumericUpDown numericUpDown_Area_Wind_PosResist;
private Label label64; private Label label64;
private NumericUpDown numericUpDown_Area_Wind_RotResist;
private Label label65;
} }
} }

3
DroneSimulator/FormMain.cs
View File

@ -308,7 +308,8 @@ namespace DroneSimulator
Area.Wind.Speed.To = (float)numericUpDown_Area_Wind_Speed_To.Value; Area.Wind.Speed.To = (float)numericUpDown_Area_Wind_Speed_To.Value;
Area.Wind.Direction = (float)numericUpDown_Area_Wind_Direction.Value; Area.Wind.Direction = (float)numericUpDown_Area_Wind_Direction.Value;
Area.Wind.Density = (float)numericUpDown_Area_Wind_Density.Value; Area.Wind.Density = (float)numericUpDown_Area_Wind_Density.Value;
Area.Wind.Resist = (float)numericUpDown_Area_Wind_Resist.Value; Area.Wind.PosResist = ((float)numericUpDown_Area_Wind_PosResist.Value)/1000.0f;
Area.Wind.RotResist = ((float)numericUpDown_Area_Wind_RotResist.Value)/1000.0f;
} }
} }
} }