public static void SimToolSendData(Transform player)
{
var roll = GetRoll(player);
var pitch = GetPitch(player);
var yaw = GetYaw(player);
//Debug.Log("Roll " + roll);
//Debug.Log("Pitch " + pitch);
simtools = new SimtoolsTelemetry(pitch, roll, yaw);
}
//these functins actually retrieve the telemetry data
#region Retreve Telemetry Data
public void FixedUpdate()
{
//don't do anything if the gameobject is null because that will throw exceptions
if (player != null)
{
//start OLD CODE
Quaternion deltaRot = Quaternion.Inverse(lastRot) * player.transform.localRotation;
float roll = lastRoll + deltaRot.eulerAngles.z;
if (roll > 180)
{
roll = roll - 360;
}
float realPitch = deltaRot.eulerAngles.x;
if (realPitch > 180)
{
realPitch = realPitch - 360;
}
float pitch = lastPitch + realPitch * Mathf.Cos(Mathf.Deg2Rad * roll); // (deltaRot.eulerAngles.x * player.transform.up.y);
float yaw = lastYaw + deltaRot.eulerAngles.y;
// ---------------------------------- OVER-RIDE PITCH, ROLL, and YAW VALUES ---------------------------------------------------
// To Do: clean up old code above
//end OLD CODE
pitch = GetPitch(player.transform);
yaw = GetYaw(player.transform);
roll = GetRoll(player.transform);
//attempt to calculate the delta quaternion for angular velocity...
Vector3 deltaPos = player.transform.position - lastPos;
Vector3 deltaV = deltaPos - lastVel;
float heave = transform.InverseTransformDirection(deltaV).y;
float sway = transform.InverseTransformDirection(deltaV).z;
float surge = transform.InverseTransformDirection(deltaV).x;
float deltaPitch = (float)Math.Round(deltaRot.eulerAngles.x, 2);
float deltaRoll = (float)Math.Round(deltaRot.eulerAngles.z, 2);
float deltaYaw = (float)Math.Round(deltaRot.eulerAngles.y, 2);
lastRot = player.transform.rotation;
lastPos = player.transform.position;
lastVel = deltaPos;
simtools = new SimtoolsTelemetry(pitch, roll, yaw, heave, sway, surge, deltaPitch, deltaRoll, deltaYaw);
}
return;
}
// initialization
void Start()
{
// create an endpoint
remoteEndPoint = new IPEndPoint(IPAddress.Parse(IP), port);
// create a udp client
client = new UdpClient();
// create a simtools object
simtools = new SimtoolsTelemetry();
//Initialize rotation
OldRotation = transform.rotation;
// start the simtools coroutine
StartCoroutine("SimtoolStart");
}
// this function handles sending data
public static void SimToolSendData(float roll, float pitch, float yaw)
{
simtools = new SimtoolsTelemetry(pitch, roll, yaw);
}
