public void Test()
{
var simSettings = new SimulationSettings();
simSettings.RenderMode = RenderModes.Normal;
var game = new SimulatorGame(simSettings, IntPtr.Zero);
_collision = new TerrainCollision(game, game);
_collision.Initialize();
_collision.TmpBuildScene();
// Find new position and velocity from a constant acceleration over timestep
const float dt = 0.017f;
var a = new Vector3(0, 9.81f, 0);
var startCondition1 = new TimestepStartingCondition(Vector3.Zero, Vector3.Zero, a,
Quaternion.Identity, TimeSpan.Zero);
TimestepStartingCondition startCondition2 = startCondition1;
var joystickOutput = new JoystickOutput(0.1f, 0.1f, 0, 0.5f);
for (int i = 0; i < 100; i++)
{
TimestepResult jitterResult = ByJitter(startCondition1, joystickOutput,
startCondition1.StartTime + TimeSpan.FromSeconds(dt), dt);
TimestepResult physicsResult = ByPhysics(startCondition2, joystickOutput,
startCondition2.StartTime + TimeSpan.FromSeconds(dt), dt);
Vector3 dPos = jitterResult.Position - physicsResult.Position;
Vector3 dVel = jitterResult.Velocity - physicsResult.Velocity;
if (jitterResult.Orientation != physicsResult.Orientation)
{
float dPitchDeg =
MathHelper.ToDegrees(VectorHelper.GetPitchAngle(jitterResult.Orientation) -
VectorHelper.GetPitchAngle(physicsResult.Orientation));
float dRollDeg =
MathHelper.ToDegrees(VectorHelper.GetRollAngle(jitterResult.Orientation) -
VectorHelper.GetRollAngle(physicsResult.Orientation));
float dYawDeg =
MathHelper.ToDegrees(VectorHelper.GetHeadingAngle(jitterResult.Orientation) -
VectorHelper.GetHeadingAngle(physicsResult.Orientation));
Console.WriteLine("YPR delta " + dPitchDeg + " " + dRollDeg + " " + dYawDeg);
}
TimeSpan nextStartTime = physicsResult.EndTime;
startCondition1 = new TimestepStartingCondition(jitterResult.Position, jitterResult.Velocity,
a, jitterResult.Orientation, nextStartTime);
startCondition2 = new TimestepStartingCondition(physicsResult.Position, physicsResult.Velocity,
a, physicsResult.Orientation, nextStartTime);
}
}
/// <summary>
/// Fired when game once again receives focus (by clicking, alt-tabbing...)
/// </summary>
/// <param name="game"></param>
private static void Game_GotFocus(SimulatorGame game)
{
// Allow cameras (among other things) to start capturing the mouse again
game.IsCapturingMouse = true;
// Hide settings form and mouse cursor
game.IsMouseVisible = false;
_settingsController.HideSettingsDialog();
}
internal static void Run(string[] runtimeArgs)
{
if (runtimeArgs == null || runtimeArgs.Length != 3)
{
MessageBox.Show(@"Expected arguments to be '-test <config file path> <output directory path>'.");
return;
}
string testConfigurationFilePath = runtimeArgs[1];
if (!File.Exists(testConfigurationFilePath))
{
MessageBox.Show(@"No test configuration file found at: " + testConfigurationFilePath);
return;
}
string relativeOutputPath = runtimeArgs[2];
try
{
TestConfiguration testConf = SimulatorResources.GetTestConfiguration(testConfigurationFilePath);
var simSettings = new SimulationSettings();
simSettings.RenderMode = RenderModes.Normal;
// Start the simulator game entry point
using (var game = new SimulatorGame(simSettings, IntPtr.Zero, testConf, relativeOutputPath))
{
// Enables cameras (poor design, I know..)
game.IsCapturingMouse = true;
// Make sure the XNA game window (left eye) displays as a full screen window
// just as the one we just created for the right eye
var gameForm = (Form)System.Windows.Forms.Control.FromHandle(game.Window.Handle);
gameForm.FormBorderStyle = FormBorderStyle.None;
gameForm.Text = @"A²DS Test Mode";
gameForm.LostFocus += (sender, e) => game.IsCapturingMouse = false;
gameForm.GotFocus += (sender, e) => game.IsCapturingMouse = true;
// Run the game code
game.Run();
}
string configfileCopy = Path.Combine(relativeOutputPath, @"TestConfiguration.xml");
File.Copy(testConfigurationFilePath, configfileCopy);
}
catch (Exception e)
{
MessageBox.Show(@"Error occured." + e);
}
}
public static void Run()
{
try
{
// SimulationSettings simSettings = SimulatorResources.GetSimulationSettings();
var simSettings = new SimulationSettings();
simSettings.RenderMode = RenderModes.Normal;
// Start the simulator game entry point
using (var game = new SimulatorGame(simSettings, IntPtr.Zero))
{
game.Run();
}
}
catch (Exception e)
{
string msg = "Error occured!\n\n" + e;
Console.WriteLine(e);
// MessageBox.Show(msg);
}
}
public static void Run()
{
try
{
int numScreens = Screen.AllScreens.Length;
if (numScreens != 1 && numScreens != 2)
throw new NotImplementedException("Only supports single and dual monitor setup!");
SimulationSettings simSettings = SimulatorResources.GetSimulationSettings();
if (simSettings.RenderMode == RenderModes.Stereo && numScreens < 2)
{
Console.WriteLine(@"Could not run stereo mode. Can't find two monitors connected?");
simSettings.RenderMode = RenderModes.Normal;
}
IntPtr rightEyeWindow = IntPtr.Zero;
if (simSettings.RenderMode == RenderModes.Stereo)
rightEyeWindow = SpawnRightEyeWindow();
// Start the simulator game entry point
using (var game = new SimulatorGame(simSettings, rightEyeWindow))
{
// Make sure the XNA game window (left eye) displays as a full screen window
// just as the one we just created for the right eye
var gameForm = (Form) System.Windows.Forms.Control.FromHandle(game.Window.Handle);
gameForm.FormBorderStyle = FormBorderStyle.None;
gameForm.LostFocus += (sender, e) => game.IsCapturingMouse = false;
gameForm.GotFocus += (sender, e) => Game_GotFocus(game);
gameForm.MouseClick += (sender, e) =>
{
if (e.Button == MouseButtons.Right)
Game_MouseRightClick(game);
};
// Name the window according to mode
gameForm.Text = (simSettings.RenderMode == RenderModes.Stereo)
? "A²DS Stereoscopy (left eye)"
: "A²DS";
_settingsController = new SettingsController(gameForm);
// Hook the settings controller to the simulator by events, so changes in PID settings causes
// autopilot to use new PID settings.
_settingsController.PIDSettingsChanged +=
() => game.SetPIDSetup(_settingsController.CurrentPIDSetup);
// Run the game code
game.Run();
}
}
catch (Exception e)
{
string msg = "Error occured!\n\n" + e;
Console.WriteLine(e);
MessageBox.Show(msg);
}
}
