public InertiaBuilder(IApplicationBuilder applicationBuilder)
{
ApplicationBuilder = applicationBuilder ?? throw new ArgumentNullException(nameof(applicationBuilder));
Inertia.Init(ApplicationBuilder.ResultFactory());
ApplicationBuilder.UseWhen(IsNewVersion, RefreshVersion());
ApplicationBuilder.UseWhen(IsNotRedirect, Redirect());
}
public IActionResult Index()
{
//return whatever you want.
var data = new { Id = 1 };
//return Inertia Result.
return(Inertia.Render(_componentResolver.ResolveComponent(nameof(Index)), data));
}
public IActionResult InertiaResultOrRedirect(string componentName, object props = null)
{
// if this is not an inertia request, redirect to do a full page load to initialize Inertia
props ??= new { };
return(IsInertiaRequest
? (IActionResult)Inertia.Render(componentName, props)
: RedirectToAction("Index", new { redirectComponent = "Home/SampleApi" }));
}
public IActionResult Privacy()
{
//return whatever you want.
var data = new { Id = 1 };
//return Inertia Result.
var result = Inertia.Render(_componentResolver.ResolveComponent(nameof(Privacy)), data);
return(result);
}
/// <summary>
/// Gets the hash code
/// </summary>
/// <returns>The int</returns>
public override int GetHashCode()
{
int result = Area.GetHashCode();
result = (result * 397) ^ Centroid.GetHashCode();
result = (result * 397) ^ Inertia.GetHashCode();
result = (result * 397) ^ Mass.GetHashCode();
return(result);
}
public Car Apply(Adjustment adjustment)
{
var inertia = _inertia.Add(Inertia.DirectionFor(adjustment));
var positionX = Position.x + inertia._x;
var positionY = Position.y + inertia._y;
var position = new Position(positionX, positionY);
return(new Car(inertia, position));
}
/// <summary>
/// Creates a new instance of Inertial with the inertial origin, mass and inertia specified.
/// </summary>
/// <param name="origin">The link's inertial reference frame. MUST NOT BE NULL</param>
/// <param name="mass">The link's mass. MUST NOT BE NULL</param>
/// <param name="inertia">The link's inertia matrix. MUST NOT BE NULL</param>
public Inertial(Origin origin, Mass mass, Inertia inertia)
{
Preconditions.IsNotNull(origin, "Inertial origin property must not be null");
Preconditions.IsNotNull(mass, "Inertial mass property must not be null");
Preconditions.IsNotNull(inertia, "Inertial inertia property must not be null");
this.Origin = origin;
this.Mass = mass;
this.Inertia = inertia;
}
private Vector3 a = Vector3.zero; // angular velocity
private void Start()
{
mass = 1.0f;
massInv = 1.0f / mass;
inertia = Inertia.SolidBox(mass, 1.0f * Vector3.one);
inertiaInv = inertia.Inverted;
rLocal = 0.5f * Vector3.one;
}
public static IApplicationBuilder UseInertia(this IApplicationBuilder app)
{
Inertia.Init(app.ResultFactory());
app.UseWhen(IsNewVersion, RefreshVersion());
app.UseWhen(IsNotRedirect, Redirect());
return(app);
}
public IActionResult Index()
{
//your js component file name.
var componentName = "Counter";
//return whatever you want.
var data = new { initialValue = 0 };
//return Inertia Result.
return(Inertia.Render(componentName, data));
}
public IActionResult Index()
{
//your js component file name.
var componentName = "Welcome";
//return whatever you want.
var data = new { Id = 1 };
//return Inertia Result.
return(Inertia.Render(componentName, data));
}
public void ConstructInertial()
{
Origin origin = new Origin();
Mass mass = new Mass(1);
Inertia inertia = new Inertia(0, 0, 0, 0, 0, 0);
Inertial inertial = new Inertial(origin, mass, inertia);
Assert.AreEqual(origin, inertial.Origin);
Assert.AreEqual(mass, inertial.Mass);
Assert.AreEqual(inertia, inertial.Inertia);
}
public void Init()
{
cif = new CockpitInterface();
inp = new Inertia(plane.name);
inp.SetBlock(0, new InertiaBlock("‹@‘Ì", plane.cg, plane.m0, plane.ixx_m0, plane.iyy_m0, plane.izz_m0, plane.ixy_m0, plane.iyz_m0, plane.izx_m0));
pMotion = new PlaneMotion(inp, 0.0D, 0.0D, 0.0D, 0.0D, 0.0D, 0.0D, 0.0D, 0.0D, 0.0D, 0.0D, 0.0D, 0.0D);
atmos = new Isa(pMotion.wpos.y);
}
public override void OnActionExecuting(ActionExecutingContext context)
{
if (context.Result == null && !context.ModelState.IsValid)
{
Controller controller = (Controller)context.Controller;
var validation = ValidateModel(context.ModelState);
controller.TempData.TryAdd("errors", validation);
context.Result = Inertia.RedirectBack();
}
}
public async Task <IActionResult> Login(string returnUrl = null)
{
returnUrl ??= Url.Content("~/");
// Clear the existing external cookie to ensure a clean login process
await HttpContext.SignOutAsync(IdentityConstants.ExternalScheme);
return(Inertia.Render(_componentResolver.ResolveComponent(nameof(Login)), new
{
returnUrl
}));
}
public void Calc_equation_of_motion(Inertia ip, Vector3D f, Vector3D t, double dt)
{
double u = vc.x;
double v = vc.y;
double w = vc.z;
double p = omega.x;
double q = omega.y;
double r = omega.z;
double mass = ip.m;
double ixx = ip.ixx;
double iyy = ip.iyy;
double izz = ip.izz;
double izx = ip.izx;
double ixy = ip.ixy;
double iyz = ip.iyz;
double l = t.x;
double m = t.y;
double n = t.z;
force.SetVec(f);
torque.SetVec(t);
d_vc_b.SetVec(d_vc);
d_vc.x = (dg.x * 9.80655D + f.x / mass - q * w + r * v);
d_vc.y = (dg.y * 9.80655D + f.y / mass - r * u + p * w);
d_vc.z = (dg.z * 9.80655D + f.z / mass - p * v + q * u);
d_omega_b.SetVec(d_omega);
double a = l + izx * p * q - (izz - iyy) * q * r - ixy * r * p + iyz * (q * q - r * r);
double b = m - iyz * p * q + ixy * q * r - (ixx - izz) * r * p - izx * (p * p + r * r);
double c = n - (iyy - ixx) * p * q - izx * q * r + iyz * r * p + ixy * (p * p - q * q);
d_omega = new Vector3D(a, b, c).MultMat(ip.InertiaInvMat);
vc.x += 0.5D * (d_vc.x * 3.0D - d_vc_b.x) * dt;
vc.y += 0.5D * (d_vc.y * 3.0D - d_vc_b.y) * dt;
vc.z += 0.5D * (d_vc.z * 3.0D - d_vc_b.z) * dt;
omega.x += 0.5D * (d_omega.x * 3.0D - d_omega_b.x) * dt;
omega.y += 0.5D * (d_omega.y * 3.0D - d_omega_b.y) * dt;
omega.z += 0.5D * (d_omega.z * 3.0D - d_omega_b.z) * dt;
Calc_alpha_beta(dt);
Convert_motion_rtol(ip.cg);
base.Update(dt);
SetGravityDirectionVector();
}
/// <summary>
/// Parses a URDF <inertial> element from XML.
/// </summary>
/// <param name="node">The XML node of a <inertial> element. MUST NOT BE NULL</param>
/// <returns>A Inertial object parsed from the XML</returns>
public override Inertial Parse(XmlNode node)
{
ValidateXmlNode(node);
XmlElement originElement = GetElementFromNode(node, UrdfSchema.ORIGIN_ELEMENT_NAME);
XmlElement massElement = GetElementFromNode(node, UrdfSchema.MASS_ELEMENT_NAME);
XmlElement inertiaElement = GetElementFromNode(node, UrdfSchema.INERTIA_ELEMENT_NAME);
Origin origin = ParseOrigin(originElement);
Mass mass = ParseMass(massElement);
Inertia inertia = ParseInertia(inertiaElement);
return((origin != null) ? new Inertial(origin, mass, inertia) : new Inertial(mass, inertia));
}
public void ParseInertiaMissingAttribute()
{
string xml = "<inertia ixx='1' ixy='1' ixz='1' iyy='1' iyz='1'/>"; // No izz attribute
this.xmlDoc.Load(XmlReader.Create(new StringReader(xml)));
Inertia inertia = this.parser.Parse(this.xmlDoc.DocumentElement);
Assert.AreEqual(1, inertia.Ixx);
Assert.AreEqual(1, inertia.Ixy);
Assert.AreEqual(1, inertia.Ixz);
Assert.AreEqual(1, inertia.Iyy);
Assert.AreEqual(1, inertia.Iyz);
Assert.AreEqual(InertiaParser.DEFAULT_VALUE, inertia.Izz);
}
public IActionResult Index(string redirectComponent)
{
var component = redirectComponent.IsEmpty()
? "Home/Index"
: redirectComponent;
var model = new Page {
Component = component, Url = component
};
return(!IsInertiaRequest
? (IActionResult)View(model)
: Inertia.Render("Home/Index", new { }));
}
public void EqualsAndHash()
{
Inertia inertia = new Inertia(1, 2, 3, 4, 5, 6);
Inertia same = new Inertia(1, 2, 3, 4, 5, 6);
Inertia diff = new Inertia(7, 7, 7, 7, 7, 7);
Assert.IsTrue(inertia.Equals(inertia));
Assert.IsFalse(inertia.Equals(null));
Assert.IsTrue(inertia.Equals(same));
Assert.IsTrue(same.Equals(inertia));
Assert.IsFalse(inertia.Equals(diff));
Assert.AreEqual(inertia.GetHashCode(), same.GetHashCode());
Assert.AreNotEqual(inertia.GetHashCode(), diff.GetHashCode());
}
public object Clone()
{
var result = new PlayerModel((Coordinates)CurPosition.Clone(), PlayerName)
{
PrevPosition = (Coordinates)PrevPosition.Clone(),
Inertia = (Coordinates)Inertia.Clone(),
CurLap = CurLap,
IsAlive = IsAlive,
IsWinner = IsWinner,
LastWayPoint = LastWayPoint,
NumberOfMovements = NumberOfMovements
};
return(result);
}
public void ConstructInertialNoOrigin()
{
Mass mass = new Mass(1);
Inertia inertia = new Inertia(0, 0, 0, 0, 0, 0);
Inertial inertial = new Inertial(mass, inertia);
Assert.AreEqual(mass, inertial.Mass);
Assert.AreEqual(inertia, inertial.Inertia);
Assert.AreEqual(0, inertial.Origin.Xyz.X);
Assert.AreEqual(0, inertial.Origin.Xyz.Y);
Assert.AreEqual(0, inertial.Origin.Xyz.Z);
Assert.AreEqual(0, inertial.Origin.Rpy.R);
Assert.AreEqual(0, inertial.Origin.Rpy.P);
Assert.AreEqual(0, inertial.Origin.Rpy.Y);
}
public void ConstructInertia()
{
double ixx = 1;
double ixy = 2;
double ixz = 3;
double iyy = 4;
double iyz = 5;
double izz = 6;
Inertia inertia = new Inertia(ixx, ixy, ixz, iyy, iyz, izz);
Assert.AreEqual(ixx, inertia.Ixx);
Assert.AreEqual(ixy, inertia.Ixy);
Assert.AreEqual(ixz, inertia.Ixz);
Assert.AreEqual(iyy, inertia.Iyy);
Assert.AreEqual(iyz, inertia.Iyz);
Assert.AreEqual(izz, inertia.Izz);
}
public IActionResult Index()
{
var rng = new Random();
var forecast = Enumerable.Range(1, 5).Select(index => new WeatherForecast
{
Date = DateTime.Now.AddDays(index),
TemperatureC = rng.Next(-20, 55),
Summary = Summaries[rng.Next(Summaries.Length)]
})
.ToArray();
//your js component file name.
var componentName = "Forecast";
//return whatever you want.
var data = new { forecast };
//return Inertia Result.
return(Inertia.Render(componentName, data));
}
public void ParseInertia()
{
double ixx = 1;
double ixy = 2;
double ixz = 3;
double iyy = 4;
double iyz = 5;
double izz = 6;
string xml = String.Format(FORMAT_STRING, ixx, ixy, ixz, iyy, iyz, izz);
this.xmlDoc.Load(XmlReader.Create(new StringReader(xml)));
Inertia inertia = this.parser.Parse(this.xmlDoc.DocumentElement);
Assert.AreEqual(ixx, inertia.Ixx);
Assert.AreEqual(ixy, inertia.Ixy);
Assert.AreEqual(ixz, inertia.Ixz);
Assert.AreEqual(iyy, inertia.Iyy);
Assert.AreEqual(iyz, inertia.Iyz);
Assert.AreEqual(izz, inertia.Izz);
}
public void ParseInertiaUnorderedAttributes()
{
double ixx = 1;
double ixy = 2;
double ixz = 3;
double iyy = 4;
double iyz = 5;
double izz = 6;
string xml = String.Format("<inertia ixx='{0}' izz='{5}' ixy='{1}' iyz='{4}' iyy='{3}' ixz='{2}'/>",
ixx, ixy, ixz, iyy, iyz, izz);
this.xmlDoc.Load(XmlReader.Create(new StringReader(xml)));
Inertia inertia = this.parser.Parse(this.xmlDoc.DocumentElement);
Assert.AreEqual(ixx, inertia.Ixx);
Assert.AreEqual(ixy, inertia.Ixy);
Assert.AreEqual(ixz, inertia.Ixz);
Assert.AreEqual(iyy, inertia.Iyy);
Assert.AreEqual(iyz, inertia.Iyz);
Assert.AreEqual(izz, inertia.Izz);
}
public PlaneMotion(Inertia ip, double xIn, double yIn, double zIn, double rollIn, double pitchIn, double yawIn, double u, double v, double w, double p, double q, double r)
: base(xIn, yIn, zIn, rollIn, pitchIn, yawIn, 0.0D, 0.0D, 0.0D)
{
vcDash = new Vector3D();
vc = new Vector3D();
d_vc = new Vector3D();
omega = new Vector3D();
d_omega = new Vector3D();
dg = new Vector3D();
d_vc_b = new Vector3D();
d_omega_b = new Vector3D();
force = new Vector3D(0.0D, 0.0D, 0.0D);
torque = new Vector3D(0.0D, 0.0D, 0.0D);
pos_integral_mode = 1;
vc.SetVec(u, v, w);
omega.SetVec(p, q, r);
Convert_motion_rtol(ip.cg);
Update(0.0D);
wv_b.SetVec(wv);
dpitch_b = dpitch;
dyaw_b = dheading;
droll_b = droll;
d_vc.SetVec(0.0D, 0.0D, 0.0D);
d_vc_b.SetVec(0.0D, 0.0D, 0.0D);
d_omega.SetVec(0.0D, 0.0D, 0.0D);
d_omega_b.SetVec(0.0D, 0.0D, 0.0D);
alpha = (alpha_b = Jp.Maker1.Sim.Tools.Tool.CalcAlpha(vc));
beta = Jp.Maker1.Sim.Tools.Tool.CalcBeta(vc);
d_alpha = 0.0D;
SetGravityDirectionVector();
}
/**
* \brief Fires bullets.
* \param void
* \return void
*/
void Fire()
{
if (Time.timeScale != 0.0f)
{
GameObject bullet = Instantiate(bulletPrefab);
bullet.transform.position = transform.position;
bullet.transform.rotation = transform.rotation;
bullet.GetComponentInParent <SphereTraveller>().Rotation = st.Rotation;
Inertia inertia = bullet.GetComponentInParent <Inertia>();
// get standard velocity
float stdSpeed = bullet.GetComponentInParent <SphereTraveller>().speed;
float stdAngle = turretTransform.localRotation.eulerAngles.y;
inertia.StdVelocity = TrigPhysics.GetVelocity(stdAngle + Random.Range(-spread, spread), stdSpeed);
// get inherited velocity
inertia.InheritedVelocity = st.LastDirection;
// get angle
inertia.Angle = stdAngle;
}
}
public Inertial(XElement node)
{
origin = (node.Element("origin") != null) ? new Origin(node.Element("origin")) : null; // optional
mass = (double)node.Element("mass").Attribute("value"); // required
inertia = new Inertia(node.Element("inertia")); // required
}
/// <summary>
/// Creates a new instance of Inertial with the mass and inertia specified.
/// </summary>
/// <param name="mass">The link's mass. MUST NOT BE NULL</param>
/// <param name="inertia">The link's inertia matrix. MUST NOT BE NULL</param>
public Inertial(Mass mass, Inertia inertia) : this(Origin.DEFAULT_ORIGIN, mass, inertia)
{
// Invoke overloaded constructor.
}
