revert e30f1f0f35

revert Merge branch 'main' of https://git.skbkit.ru/CPL/Simulator

DroneSimulator/Drone.cs

@@ -7,14 +7,13 @@ namespace DroneSimulator
   internal class Drone
   {
     public int ID;
-    public float Mass; // Масса
+
     public bool Active; // Живой?
-    public float Length; // Длинна лучей
     public const float Dynamic = 10; // Динамика вращения
     public Vector3 PosXYZ, SpdXYZ, AccXYZ; // Положение в пространстве: Позиция, Скорость, Ускорение
     public Quaternion Quat; // Основной кватернион
     public float Power = 0; // Тяга всех двигателей (0-1)
-    public float MaxPower; // Максимальная Тяга всех двигателей (КГ)
+    
     public Vector3 SpdPRY, AccPRY; // Поворот в пространстве: pitch roll yaw
 
     public Vector3 Acc, Gyr; // Имитация: Акселерометр, Гироскоп
@@ -34,12 +33,19 @@ namespace DroneSimulator
 
     private Vector2 MoveOF = Vector2.Zero;
 
-    RealMode.Accelerometer RealAcc = new RealMode.Accelerometer();
+    public struct Physics
-    RealMode.Gyroscope RealGyr = new RealMode.Gyroscope();
+    {
-    RealMode.Position RealPos = new RealMode.Position();
+      static public float Mass; // Масса
-    RealMode.Barometer RealBar = new RealMode.Barometer();
+      static public float Length; // Длинна лучей
-    RealMode.Range RealRange = new RealMode.Range();
+      static public float MaxPower; // Максимальная Тяга всех двигателей (КГ)
-    RealMode.OpticalFlow RealOF = new RealMode.OpticalFlow();
+    }
+
+    private RealMode.Accelerometer RealAcc = new RealMode.Accelerometer();
+    private RealMode.Gyroscope RealGyr = new RealMode.Gyroscope();
+    private RealMode.Position RealPos = new RealMode.Position();
+    private RealMode.Barometer RealBar = new RealMode.Barometer();
+    private RealMode.Range RealRange = new RealMode.Range();
+    private RealMode.OpticalFlow RealOF = new RealMode.OpticalFlow();
 
     public static byte[] getBytes(object data)
     {
@@ -129,12 +135,8 @@ namespace DroneSimulator
       DroneThread.Start();
     }
 
-    public int Create(float power, float mass, float len)
+    public int Create()
     {
-      Mass = mass;
-      Length = len;
-      MaxPower = power;
-
       Active = true;
 
       return ID;
@@ -226,10 +228,10 @@ namespace DroneSimulator
         AccPRY.X -= wind_p; AccPRY.Y -= wind_r; AccPRY.Z -= wind_w;
       }
 
-      SpdPRY += AccPRY * (Dynamic * time / (Mass * Length));
+      SpdPRY += AccPRY * (Dynamic * time / (Physics.Mass * Physics.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);
+      AccXYZ = new Vector3(pow.X + wind_x, pow.Y + wind_y, pow.Z + wind_z) * (Gravity / Physics.Mass);
       SpdXYZ += (AccXYZ + new Vector3(0, 0, -Gravity)) * time;
       PosXYZ += SpdXYZ * time;
 
@@ -308,7 +310,7 @@ namespace DroneSimulator
       if (pow > 1) pow = 1;
       if (pow < 0) pow = 0;
 
-      return pow * MaxPower;
+      return pow * Physics.MaxPower;
     }
 
     public void SetQadroPow(float ul, float ur, float dl, float dr)

DroneSimulator/FormMain.cs

@@ -32,6 +32,7 @@ namespace DroneSimulator
       checkBox_Area_Freeze_CheckedChanged(null, null);
       numericUpDown_Area_Wind_Update(null, null);
       numericUpDown_GPS_ValueChanged(null, null);
+      numericUpDown_Physics_ValueChanged(null, null);
     }
 
     private void ClientConnectionCallback(object o)
@@ -46,7 +47,7 @@ namespace DroneSimulator
       if (data.Connect)
       {
         Drone drone = new Drone(data.ID);
-        drone.Create(1.0f, 0.5f, 1.0f);
+        drone.Create();
 
         screen2D.CreateDrone(Color.Red, data.ID);
 
@@ -178,7 +179,7 @@ namespace DroneSimulator
 
       Invoke((MethodInvoker)delegate
       {
-        label_Clients_Num.Text = data.Count.ToString();
+        label_Visual_Num.Text = data.Count.ToString();
       });
 
       if (data.Connect)
@@ -344,5 +345,12 @@ namespace DroneSimulator
       GPS.State.Vdop = (float)numericUpDown_GPS_VDOP.Value;
       GPS.State.Pdop = (float)numericUpDown_GPS_PDOP.Value;
     }
+
+    private void numericUpDown_Physics_ValueChanged(object sender, EventArgs e)
+    {
+      Drone.Physics.Mass = (float)numericUpDown_Physics_Mass.Value;
+      Drone.Physics.Length = (float)numericUpDown_Physics_Length.Value;
+      Drone.Physics.MaxPower = (float)numericUpDown_Physics_Power.Value;
+    }
   }
 }

DroneSimulator/FormMain.resx

@@ -117,9 +117,6 @@
   <resheader name="writer">
     <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
   </resheader>
-  <metadata name="menuStrip_Menu.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
-    <value>17, 17</value>
-  </metadata>
   <metadata name="timer_Test.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
     <value>162, 5</value>
   </metadata>