private void OnWindowStatisticsSingleDisplayUpdateHandler(WindowStatistics.OnSingleDisplayUpdate onSingleDisplayUpdate)
{
Globals.GlobalWinFormsServicePort.FormInvoke(
delegate()
{
_windowStatistics.SingleUpdateDisplayValues(onSingleDisplayUpdate);
}
);
}
/// <summary>
/// Build the the physical model
/// </summary>
/// <param name="device">A reference to the used graphics graphics device</param>
/// <param name="physicsEngine">A reference to the used physics engine</param>
private void ProgrammaticallyBuildModel(xnagrfx.GraphicsDevice device, PhysicsEngine physicsEngine)
{
// Create central box
BoxShapeProperties centerBoxChassisProperties = new BoxShapeProperties(
0.2f, // 200g
new Pose(new Vector3(0, CHASSIS_DIMENSIONS_HEIGHT / 2, 0)),
new Vector3(0.06f, CHASSIS_DIMENSIONS_HEIGHT, 0.06f)
);
//State.PhysicsPrimitives.Add(new BoxShape(centerBoxChassisProperties));
// Create box shape dynamically for each multicopter arm
float angleOffset = (2 * xna.MathHelper.Pi) / Globals.Instance.multicopterPropellerCount[multicopterType];
Vector3 multicopterCenter = new Vector3(ARM_CHASSIS_DIMENSIONS.X / 2, ARM_CHASSIS_DIMENSIONS.Y / 2 - 0.004f, 0.0f);
for (int i = 0; i < Globals.Instance.multicopterPropellerCount[multicopterType]; i++)
{
BoxShapeProperties chassisShapeProperties = new BoxShapeProperties(
MULTICOPTER_ARM_MASS,
new Pose(MathHelper.RotateAroundAxis_Y(multicopterCenter, new Vector3(), angleOffset * i),
Quaternion.FromAxisAngle(0.0f, -1.0f, 0.0f, angleOffset * i)),
ARM_CHASSIS_DIMENSIONS
);
// Set the material properties
// -> Restitution = how bouncy the material is
// -> Static friction = Friction between non-moving surfaces
// -> Dynamic friction = Friction betwwen moving surfaces
chassisShapeProperties.Material = new MaterialProperties("high friction", 0.1f, 1.0f, 20.0f);
chassisShapeProperties.Name = State.Name + " Arm chassis " + i;
// Add the chassis descriptions
State.PhysicsPrimitives.Add(new BoxShape(chassisShapeProperties));
}
// Gesamtmasse des Multicopters im Statistics Fenster anzeigen
WindowStatistics.OnSingleDisplayUpdate onSingleDisplayUpdate = new WindowStatistics.OnSingleDisplayUpdate();
onSingleDisplayUpdate.multicopterWeight = Globals.Instance.multicopterPropellerCount[multicopterType] * MULTICOPTER_ARM_MASS;
windowStatisticsEventsPort.Post(onSingleDisplayUpdate);
// Create and insert the physics entity
base.CreateAndInsertPhysicsEntity(physicsEngine);
// Increase physics fidelity
base.PhysicsEntity.SolverIterationCount = 60;
}
