Example #1
0
        /// <summary>
        ///
        /// </summary>
        /// <param name="b"></param>
        /// <param name="observer"></param>
        /// <returns></returns>
        static Offset <FQT> serialise_quaternion_transform(FlatBufferBuilder b, IHasQuaternionTransform observer)
        {
            var pos = observer.Position;
            var rot = observer.Rotation;

            FQT.StartFQT(b);
            FQT.AddTransform(
                b,
                FQuaternionTransform.CreateFQuaternionTransform(
                    b,
                    pos.x,
                    pos.y,
                    pos.z,
                    rot.x,
                    rot.y,
                    rot.z,
                    rot.w));
            return(FQT.EndFQT(b));
        }
Example #2
0
        ///  <summary>
        ///
        ///  </summary>
        ///  <param name="b"></param>
        ///  <param name="state"></param>
        /// <param name="serialise_indidual_observables"></param>
        /// <param name="do_serialise_unobservables"></param>
        /// <returns></returns>
        public static Offset <FState> serialise_state(
            FlatBufferBuilder b,
            EnvironmentState state,
            bool serialise_indidual_observables = false,
            bool do_serialise_unobservables     = false)
        {
            var n = b.CreateString(state.EnvironmentName);

            var observables_vector = FState.CreateObservablesVector(b, state.Observables);

            var observers_vector = _null_vector_offset;

            if (serialise_indidual_observables)
            {
                var observations = state.Observers;

                var observers = new Offset <FOBS> [observations.Length];
                var k         = 0;
                foreach (var observer in observations)
                {
                    observers[k++] = serialise_observer(b, observer);
                }

                observers_vector = FState.CreateObservationsVector(b, observers);
            }

            var unobservables = _null_unobservables_offset;

            if (do_serialise_unobservables)
            {
                var state_eunobservables = state.Unobservables;
                var bodies = state_eunobservables.Bodies;

                FUnobservables.StartBodiesVector(b, bodies.Length);
                foreach (var rig in bodies)
                {
                    var vel = rig.Velocity;
                    var ang = rig.AngularVelocity;
                    FBody.CreateFBody(b, vel.x, vel.y, vel.z, ang.x, ang.y, ang.z);
                }

                var bodies_vector = b.EndVector();

                var poses = state_eunobservables.Poses;

                FUnobservables.StartPosesVector(b, poses.Length);
                foreach (var tra in poses)
                {
                    var pos = tra.position;
                    var rot = tra.rotation;
                    FQuaternionTransform.CreateFQuaternionTransform(b, pos.x, pos.y, pos.z, rot.x, rot.y, rot.z, rot.w);
                }

                var poses_vector = b.EndVector();

                FUnobservables.StartFUnobservables(b);
                FUnobservables.AddPoses(b, poses_vector);
                FUnobservables.AddBodies(b, bodies_vector);
                unobservables = FUnobservables.EndFUnobservables(b);
            }

            var description_offset = new Offset <FEnvironmentDescription>();

            if (state.Description != null)
            {
                description_offset = serialise_description(b, state);
            }

            var d = new StringOffset();

            if (state.DebugMessage != "")
            {
                d = b.CreateString(state.DebugMessage);
            }

            var t = b.CreateString(state.TerminationReason);

            FState.StartFState(b);
            FState.AddEnvironmentName(b, n);

            FState.AddFrameNumber(b, state.FrameNumber);
            FState.AddObservables(b, observables_vector);

            if (do_serialise_unobservables)
            {
                FState.AddUnobservables(b, unobservables);
            }

            FState.AddTotalEnergySpent(b, state.TotalEnergySpentSinceReset);
            FState.AddSignal(b, state.Signal);

            FState.AddTerminated(b, state.Terminated);
            FState.AddTerminationReason(b, t);

            if (serialise_indidual_observables)
            {
                FState.AddObservations(b, observers_vector);
            }

            if (state.Description != null)
            {
                FState.AddEnvironmentDescription(b, description_offset);
            }

            if (state.DebugMessage != "")
            {
                FState.AddSerialisedMessage(b, d);
            }

            return(FState.EndFState(b));
        }