public SimulationStepResults(PhysicalHeliState startState, TimeSpan startTime)
{
StartingCondition = new TimestepStartingCondition(startState.Position, startState.Velocity,
startState.Acceleration, startState.Orientation, startTime);
Result = new TimestepResult(startState.Position, startState.Velocity, startState.Orientation, startTime);
StartTime = startTime;
EndTime = startTime;
Duration = TimeSpan.Zero;
}
public SimulationStepResults(PhysicalHeliState startState, TimeSpan startTime)
{
StartingCondition = new TimestepStartingCondition(startState.Position, startState.Velocity,
startState.Acceleration, startState.Orientation, startTime);
Result = new TimestepResult(startState.Position, startState.Velocity, startState.Orientation, startTime);
StartTime = startTime;
EndTime = startTime;
Duration = TimeSpan.Zero;
}
public SimulationStepResults(TimestepStartingCondition startingCondition, TimestepResult result,
TimeSpan startTime, TimeSpan endTime)
{
Duration = endTime - startTime;
StartTime = startTime;
EndTime = endTime;
// Substeps = new List<SimulationStepResults>();
StartingCondition = startingCondition;
Result = result;
}
public SimulationStepResults(TimestepStartingCondition startingCondition, TimestepResult result,
TimeSpan startTime, TimeSpan endTime)
{
Duration = endTime - startTime;
StartTime = startTime;
EndTime = endTime;
// Substeps = new List<SimulationStepResults>();
StartingCondition = startingCondition;
Result = result;
}
public TimestepStartingCondition(TimestepResult result, Vector3 acceleration)
: this(result.Position, result.Velocity, acceleration, result.Orientation, result.EndTime)
{
}
/// <summary>Calculates the input and external forces.</summary>
/// <returns>The new orientation and the total acceleration for this orientation in this timestep.</returns>
public SimulationStepResults PerformTimestep(PhysicalHeliState prev, JoystickOutput output, TimeSpan stepDuration,
TimeSpan stepEndTime)
{
if (!_isInitialized)
{
// startCondition.Acceleration = CalculateAcceleration(startCondition.Orientation, startCondition.Velocity, input);
_prevTimestepResult = new TimestepResult(prev.Position, prev.Velocity, prev.Orientation,
stepEndTime - stepDuration);
_isInitialized = true;
}
// If the number of substeps is 0 then only the state at the end of the timestep will be calculated.
// If the number is greater than 1, then the timestep will 1 then a substep will be calculated in the middle of the timestep.
const int substeps = 0;
if (substeps < 0)
throw new Exception("The number of substeps is invalid.");
TimeSpan substepDuration = stepDuration.Divide(1 + substeps);
Vector3 initialAcceleration = CalculateAcceleration(prev.Orientation, prev.Velocity, output);
var initialState = new TimestepStartingCondition(_prevTimestepResult, initialAcceleration);
//_prevTimestepResult.Result;
// var substepResults = new List<SubstepResults> {initialState};
// We always need to calculate at least the timestep itself, plus any optional substeps.
// Substeps are used to provide sensors with a higher frequency of data than the simulator is capable of rendering real-time.
// const int stepsToCalculate = substeps + 1;
// SubstepResults prevSubstep = initialState;
// for (int i = 0; i < stepsToCalculate; i++)
// {
// prevSubstep.Acceleration = CalculateAcceleration(prevSubstep.Orientation, prevSubstep.Velocity, input);
// SubstepResults r = SimulateStep(prevSubstep, prevSubstep.Acceleration, input, substepDuration, stepEndTime);
//
// substepResults.Add(r);
// prevSubstep = r;
// }
TimestepResult result = SimulateStep(initialState, output, substepDuration, stepEndTime);
//new SimulationStepResults(stepDuration, substepDuration, substepResults);
_prevTimestepResult = result;
// DebugInformation.Time1 = stepEndTime;
// DebugInformation.Q1 = result.Orientation;
//
// DebugInformation.Vectors["Pos"] = result.Position;
// DebugInformation.Vectors["Vel"] = result.Velocity;
// DebugInformation.Vectors["Acc"] = initialAcceleration;
return new SimulationStepResults(initialState, result, stepEndTime - stepDuration, stepEndTime);
}
public TimestepStartingCondition(TimestepResult result, Vector3 acceleration)
: this(result.Position, result.Velocity, acceleration, result.Orientation, result.EndTime)
{
}
