public Vector3 GetStart(float frame)
{
return(new Vector3(
PosX.GetFrameValue(frame),
PosY.GetFrameValue(frame),
PosZ.GetFrameValue(frame)));
}
private void timer1_Tick(object sender, EventArgs e)
{
// ushort axis = GetAxis(); //轴号
double dcurrent_speedX = 0, dcurrent_speedY = 0, dcurrent_speedZ = 0, dcurrent_speedW = 0; //速度值
// double dunitPosX, dunitPosY, dunitPosZ, dunitPosW; //脉冲当量转换后指令值
int PosX, PosY, PosZ, PosW; //脉冲值
LTDMC.dmc_read_current_speed_unit(_CardID, 0, ref dcurrent_speedX); // 读取轴当前速度
LTDMC.dmc_read_current_speed_unit(_CardID, 1, ref dcurrent_speedY);
LTDMC.dmc_read_current_speed_unit(_CardID, 2, ref dcurrent_speedZ);
LTDMC.dmc_read_current_speed_unit(_CardID, 3, ref dcurrent_speedW);
txtCurrentSpeedX.Text = dcurrent_speedX.ToString();
txtCurrentSpeedY.Text = dcurrent_speedY.ToString();
txtCurrentSpeedZ.Text = dcurrent_speedZ.ToString();
txtCurrentSpeedW.Text = dcurrent_speedW.ToString();
//LTDMC.dmc_get_position_unit(_CardID, 0, ref dunitPosX); //读取指定轴指令位置值
//txtFinalPosY.Text = dunitPosX.ToString();
PosX = LTDMC.dmc_get_position(_CardID, 0);//读取指定轴的脉冲值
PosY = LTDMC.dmc_get_position(_CardID, 1);
PosZ = LTDMC.dmc_get_position(_CardID, 2);
PosW = LTDMC.dmc_get_position(_CardID, 3);
txtCurrentPosX.Text = PosX.ToString();
txtCurrentPosY.Text = PosY.ToString();
txtCurrentPosZ.Text = PosZ.ToString();
txtCurrentPosW.Text = PosW.ToString();
if (LTDMC.dmc_check_done(_CardID, 0) == 0) // 读取指定轴运动状态
{
txtStateX.Text = "运行中";
}
else
{
txtStateX.Text = "停止中";
}
if (LTDMC.dmc_check_done(_CardID, 1) == 0) // 读取指定轴运动状态
{
txtStateY.Text = "运行中";
}
else
{
txtStateY.Text = "停止中";
}
if (LTDMC.dmc_check_done(_CardID, 2) == 0) // 读取指定轴运动状态
{
txtStateZ.Text = "运行中";
}
else
{
txtStateZ.Text = "停止中";
}
if (LTDMC.dmc_check_done(_CardID, 3) == 0) // 读取指定轴运动状态
{
txtStateW.Text = "运行中";
}
else
{
txtStateW.Text = "停止中";
}
}
public void ReceiveTelemetry(TelemetryPayload payload)
{
// set position
PosX.SetToNumber(Mathf.RoundToInt(payload.posx / 1000.0f));
PosY.SetToNumber(Mathf.RoundToInt(payload.posy / 1000.0f));
PosZ.SetToNumber(Mathf.RoundToInt(payload.posz / 1000.0f));
// x is the y-dim and y is heading
RotX.SetToNumber(Mathf.RoundToInt(payload.roty));
var heading = (payload.rotx < 100) ? Mathf.CeilToInt(payload.rotx * -1) : Mathf.CeilToInt(360 - payload.rotx);
RotY.SetToNumber(heading);
}
public override string ToString()
{
return(String.Format("[{0}][{1}],[{2}],[{3}],[{4}],[{5}],[{6}],[{7}],[{8}],[{9}]", (Frame + 1).ToString().PadLeft(5),
PosX.ToString().ToFixedString(size, ' ').PadRight(padding),
PosY.ToString().ToFixedString(size, ' ').PadRight(padding),
PosZ.ToString().ToFixedString(size, ' ').PadRight(padding),
RotX.ToString().ToFixedString(size, ' ').PadRight(padding),
RotY.ToString().ToFixedString(size, ' ').PadRight(padding),
RotZ.ToString().ToFixedString(size, ' ').PadRight(padding),
RotW.ToString().ToFixedString(size, ' ').PadRight(padding),
ScaX.ToString().ToFixedString(size, ' ').PadRight(padding),
ScaY.ToString().ToFixedString(size, ' ').PadRight(padding),
ScaZ.ToString().ToFixedString(size, ' ').PadRight(padding)));
}
public bool GetNextPosZ(BoardSpace target)
{
if (target == this)
{
return(true);
}
else if (!PosZ)
{
return(false);
}
else
{
return(PosZ.GetNextPosZ(target));
}
}
public override int GetHashCode()
{
int hash = 1;
if (Name.Length != 0)
{
hash ^= Name.GetHashCode();
}
if (PosX != 0F)
{
hash ^= PosX.GetHashCode();
}
if (PosY != 0F)
{
hash ^= PosY.GetHashCode();
}
if (PosZ != 0F)
{
hash ^= PosZ.GetHashCode();
}
if (RotX != 0F)
{
hash ^= RotX.GetHashCode();
}
if (RotY != 0F)
{
hash ^= RotY.GetHashCode();
}
if (RotZ != 0F)
{
hash ^= RotZ.GetHashCode();
}
if (Hp != 0)
{
hash ^= Hp.GetHashCode();
}
if (BossHp != 0)
{
hash ^= BossHp.GetHashCode();
}
if (Target != 0)
{
hash ^= Target.GetHashCode();
}
return(hash);
}
public override int GetHashCode()
{
int hash = 1;
if (Name.Length != 0)
{
hash ^= Name.GetHashCode();
}
if (PosX != 0F)
{
hash ^= PosX.GetHashCode();
}
if (PosY != 0F)
{
hash ^= PosY.GetHashCode();
}
if (PosZ != 0F)
{
hash ^= PosZ.GetHashCode();
}
if (RotX != 0F)
{
hash ^= RotX.GetHashCode();
}
if (RotY != 0F)
{
hash ^= RotY.GetHashCode();
}
if (RotZ != 0F)
{
hash ^= RotZ.GetHashCode();
}
if (Hp != 0)
{
hash ^= Hp.GetHashCode();
}
if (IsHit != false)
{
hash ^= IsHit.GetHashCode();
}
return(hash);
}
private void Update()
{
if (AnimationDir == 1)
{
T += Time.deltaTime * AnimationSpeed;
if (T >= 1.0f)
{
T = 1.0f;
if (ReverseOnFinish)
{
AnimationDir = -1;
}
else
{
AnimationDir = 0;
}
}
}
else if (AnimationDir == -1)
{
T -= Time.deltaTime * AnimationSpeed;
if (T <= 0.0f)
{
T = 0.0f;
AnimationDir = 0;
}
}
tr.localPosition = new Vector3(PosX.Evaluate(T), PosY.Evaluate(T), PosZ.Evaluate(T)) +
startPos;
tr.localScale = new Vector3(startScale.x * ScaleX.Evaluate(T),
startScale.y * ScaleY.Evaluate(T),
startScale.z * ScaleZ.Evaluate(T));
tr.localEulerAngles = new Vector3(tr.localEulerAngles.x, tr.localEulerAngles.y,
startRot + Rot.Evaluate(T));
}
internal unsafe Vector3 GetPosition(float index)
{
return(new Vector3(PosX.GetFrameValue(index), PosY.GetFrameValue(index), PosZ.GetFrameValue(index)));
}
