CPL/Simulator
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Update Drone.cs

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This commit is contained in:
Sergey Sklyarov
2025-07-17 00:19:54 +03:00
parent 771440f642
commit fb24fe0f7b
1 changed files with 7 additions and 3 deletions
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10
DroneSimulator/Drone.cs
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@ -41,6 +41,7 @@ namespace DroneSimulator
private Vector2 MoveOF = Vector2.Zero; private Vector2 MoveOF = Vector2.Zero;
private uint CountOF = 0; private uint CountOF = 0;
private bool ReadyOF = false;
public struct Physics public struct Physics
{ {
@ -296,7 +297,7 @@ namespace DroneSimulator
Quat = Quaternion.Identity; Quat = Quaternion.Identity;
} }
else */ else */
Rotate(SpdPRY.X * time, SpdPRY.Y * time, SpdPRY.Z * time); Rotate(SpdPRY.X * time, SpdPRY.Y * time, SpdPRY.Z * time);
Vector4 ori = GetOrientation(); Vector4 ori = GetOrientation();
@ -363,10 +364,12 @@ namespace DroneSimulator
bool of = RealOF.Update(of_xy, LaserRange, tick); bool of = RealOF.Update(of_xy, LaserRange, tick);
if(of) lock (this) lock (this)
{ {
MoveOF += RealOF.result; MoveOF += RealOF.result;
CountOF += 1; CountOF += 1;
if (of) ReadyOF = true;
} }
} }
@ -530,7 +533,7 @@ namespace DroneSimulator
lock (this) lock (this)
{ {
if (CountOF != 0) if (ReadyOF && CountOF != 0)
{ {
of.X = MoveOF.X / CountOF; of.X = MoveOF.X / CountOF;
of.Y = MoveOF.Y / CountOF; of.Y = MoveOF.Y / CountOF;
@ -545,6 +548,7 @@ namespace DroneSimulator
MoveOF = Vector2.Zero; MoveOF = Vector2.Zero;
CountOF = 0; CountOF = 0;
ReadyOF = false;
} }
return getBytes(of); return getBytes(of);