public void CopyFrom(EntityStatePDU other)
{
EntityId = other.EntityId;
ForceId = other.ForceId;
EntityType = other.EntityType;
AlternativeEntityType = other.AlternativeEntityType;
LinearVelocity = other.LinearVelocity;
Location = other.Location;
Orientation = other.Orientation;
Appearance.BitValue = other.Appearance.BitValue;
DeadRecokning.Algorithm = other.DeadRecokning.Algorithm;
DeadRecokning.LinearAcceleration = other.DeadRecokning.LinearAcceleration;
MarkingText.CharacterSet = other.MarkingText.CharacterSet;
MarkingText.String = other.MarkingText.String;
Capabilities = other.Capabilities;
if (ArticulatedParts.Length != other.ArticulatedParts.Length)
{
ArticulatedParts = new ArticulatedPart[other.ArticulatedParts.Length];
}
for (int i = 0; i < other.ArticulatedParts.Length; i++)
{
ArticulatedParts[i].TypeDesignator = other.ArticulatedParts[i].TypeDesignator;
ArticulatedParts[i].ChangeIndicator = other.ArticulatedParts[i].ChangeIndicator;
ArticulatedParts[i].TypeVariantAttached = other.ArticulatedParts[i].TypeVariantAttached;
ArticulatedParts[i].TypeVariantArticulated = other.ArticulatedParts[i].TypeVariantArticulated;
ArticulatedParts[i].value = other.ArticulatedParts[i].value;
}
}
public static void Calculate(EntityStatePDU entityState, float elapsedTime, out GeocentricCoord outLocation, out Vector3Float outOrientation)
{
switch (entityState.DeadRecokning.Algorithm)
{
case DeadReckoningAlgorithm.Other:
case DeadReckoningAlgorithm.Static:
outLocation = (GeocentricCoord)entityState.Location;
outOrientation = entityState.Orientation;
return;
case DeadReckoningAlgorithm.FPW:
outLocation = (GeocentricCoord)(entityState.Location + entityState.LinearVelocity * elapsedTime);
outOrientation = entityState.Orientation;
return;
case DeadReckoningAlgorithm.RPW:
outLocation = (GeocentricCoord)(entityState.Location + entityState.LinearVelocity * elapsedTime);
outOrientation = entityState.Orientation + entityState.DeadRecokning.AngularVelocity * elapsedTime;
return;
case DeadReckoningAlgorithm.RVW:
outLocation = (GeocentricCoord)(entityState.Location + (entityState.LinearVelocity * elapsedTime + entityState.DeadRecokning.LinearAcceleration * (0.5 * elapsedTime * elapsedTime)));
outOrientation = entityState.Orientation + entityState.DeadRecokning.AngularVelocity * elapsedTime;
return;
case DeadReckoningAlgorithm.FVW:
outLocation = (GeocentricCoord)(entityState.Location + (entityState.LinearVelocity * elapsedTime + entityState.DeadRecokning.LinearAcceleration * (0.5 * elapsedTime * elapsedTime)));
outOrientation = entityState.Orientation;
return;
}
outLocation = (GeocentricCoord)entityState.Location;
outOrientation = entityState.Orientation;
}
public void Tick()
{
if (ShouldSendNewPDU)
{
_disExerciseConnection.SendPDU(State);
_lastSendTime = Time.time;
if (_lastSentState == null)
{
_lastSentState = new EntityStatePDU();
}
_lastSentState.CopyFrom(State);
}
}
private void ReceivedEntityStatePDU(EntityStatePDU entityState)
{
if (IsOwnEntity(entityState))
{
return;
}
DISReflectedEntity reflectedEntity;
if (!_reflectedEntities.TryGetValue(entityState.EntityId, out reflectedEntity))
{
reflectedEntity = new DISReflectedEntity();
_reflectedEntities[entityState.EntityId] = reflectedEntity;
reflectedEntity.UpdateState(entityState);
DISEntityJoined?.Invoke(reflectedEntity);
}
else
{
reflectedEntity.UpdateState(entityState);
EntityUpdated?.Invoke(reflectedEntity);
}
}
private bool IsOwnEntity(EntityStatePDU entityState)
{
return(_publishedEntitiesIds.Contains(entityState.EntityId));
}
public void UpdateState(EntityStatePDU newState)
{
State = newState;
_lastUpdateTime = Time.time;
}