private void OnLoad(object sender, EventArgs e)
{
baseGrid = new ParticleGrid(20, 5, GuiContext);
ViewerControl.Camera.SetViewportSize(ViewerControl.GLControl.Width, ViewerControl.GLControl.Height);
ViewerControl.Camera.SetLocation(new Vector3(256));
ViewerControl.Camera.LookAt(new Vector3(0));
LoadScene();
if (Scene.AllNodes.Any())
{
var bbox = Scene.AllNodes.First().BoundingBox;
var location = new Vector3(bbox.Max.Z, 0, bbox.Max.Z) * 1.5f;
ViewerControl.Camera.SetLocation(location);
ViewerControl.Camera.LookAt(bbox.Center);
}
staticOctreeRenderer = new OctreeDebugRenderer <SceneNode>(Scene.StaticOctree, Scene.GuiContext, false);
dynamicOctreeRenderer = new OctreeDebugRenderer <SceneNode>(Scene.DynamicOctree, Scene.GuiContext, true);
if (renderModeComboBox != null)
{
var supportedRenderModes = Scene.AllNodes
.SelectMany(r => r.GetSupportedRenderModes())
.Distinct();
SetAvailableRenderModes(supportedRenderModes);
}
ViewerControl.GLLoad -= OnLoad;
ViewerControl.GLPaint += OnPaint;
GuiContext.ClearCache();
}
/// <summary>
/// Lays out all of the contained controls horizontally.
/// </summary>
public override void Render(GuiContext c)
{
Width = 0;
Height = 0;
c.PushXY();
foreach (var control in Controls.ToArray())
{
// adjust position for padding
c.MoveTo(c.X + control.Settings.LeftPadding, c.Y);
c.PushXY();
c.MoveTo(c.X, c.Y + control.Settings.TopPadding);
// save layout's size
if (control.TotalHeight > Height)
{
Height = control.TotalHeight;
}
Width += control.TotalWidth;
// render and save the extents for mouse events
control.Render(c);
control.LastRenderPosition.X = c.X;
control.LastRenderPosition.Y = c.Y;
control.LastRenderPosition.Width = control.Width;
control.LastRenderPosition.Height = control.Height;
// move to the next control's position
c.PopXY();
c.MoveTo(c.X + control.Width + control.Settings.RightPadding, c.Y);
}
c.PopXY();
}
private bool ResultSubscribePLCTag(IIncomingMessage Message)
{
bool RetValue = true;
// get msg application data
var MsgData = GeneralHelper.DeserializeObject(Message.MessageData) as PLCTagData;
Logger.InfoFormat("Ricevuto Messaggio {1}/{2}:{3} da {0}", Message.SourceApplicationName, MsgData.Tag.PLCName, MsgData.Tag.Address, MsgData.Tag.Value);
TagItem tag = new TagItem()
{
PLCName = MsgData.Tag.PLCName, Address = MsgData.Tag.Address
};
if (tag != null)
{
Logger.InfoFormat("Aggiunto {0}/{1}", tag.PLCName, tag.Address);
if (GuiContext != null)
{
GuiContext.Send((o) => { model.ListTagItems.Add(tag); }, null);
}
else
{
Logger.InfoFormat("GuiContext NULL");
Debug.Assert(false);
}
}
return(RetValue);
}
public SwitchList(GuiContext context)
: base(context)
{
Items = new ObservableCollection <object>();
Items.CollectionChanged += (sender, args) => ValidateIndex();
_selectedIndex = -1;
}
internal void PostMediaEndedEvent()
{
LogEventStart(nameof(MediaEnded));
GuiContext.EnqueueInvoke(() =>
{
MediaEnded?.Invoke(this, EventArgs.Empty);
LogEventDone(nameof(MediaEnded));
});
}
internal void PostSeekingStartedEvent()
{
LogEventStart(nameof(SeekingStarted));
GuiContext.EnqueueInvoke(() =>
{
SeekingStarted?.Invoke(this, EventArgs.Empty);
LogEventDone(nameof(SeekingStarted));
});
}
internal void PostMediaStateChangedEvent(MediaPlaybackState oldValue, MediaPlaybackState newValue)
{
LogEventStart(nameof(MediaStateChanged));
GuiContext.EnqueueInvoke(() =>
{
MediaStateChanged?.Invoke(this, new MediaStateChangedEventArgs(oldValue, newValue));
LogEventDone(nameof(MediaStateChanged));
});
}
internal void PostPositionChangedEvent(TimeSpan oldValue, TimeSpan newValue)
{
// Event logging disabled because this happens too often.
GuiContext.EnqueueInvoke(() =>
{
PositionChanged?.Invoke(
this, new PositionChangedEventArgs(MediaCore.State, oldValue, newValue));
});
}
internal void PostMediaChangedEvent(MediaInfo mediaInfo)
{
LogEventStart(nameof(MediaChanged));
GuiContext.EnqueueInvoke(() =>
{
MediaChanged?.Invoke(this, new MediaOpenedEventArgs(mediaInfo));
LogEventDone(nameof(MediaChanged));
});
}
internal void PostMediaFailedEvent(Exception ex)
{
LogEventStart(nameof(MediaFailed));
GuiContext.EnqueueInvoke(() =>
{
MediaFailed?.Invoke(this, new MediaFailedEventArgs(ex));
LogEventDone(nameof(MediaFailed));
});
}
public override void Load()
{
var pixel = new Texture2D(context.GraphicsDevice, 1, 1);
pixel.SetData(new[] { Color.White });
_guiContext = new GuiContext(pixel);
_guifont = content.Load <SpriteFont>(FontName);
_guiCam = new Camera(new Vector2());
_guiCam = new Camera(new Vector2(VirtualResolution.Width / 2, VirtualResolution.Height / 2));
base.Load();
}
public override void Render(GuiContext c)
{
var box = new Rectangle(c.X, c.Y, Width, Height);
var g = c.GetGraphics();
// important locations (TODO: fix for horizontal)
var fullRect = new RectangleF(c.X, c.Y, Width, Height);
var faderAreaRect = new RectangleF(c.X, c.Y, Width / 2, Height);
var slotRect = new RectangleF(faderAreaRect.X + faderAreaRect.Width / 2 - 3, faderAreaRect.Y, 6, faderAreaRect.Height);
var valueAreaRect = new RectangleF(c.X + Width / 2, c.Y, Width / 2, Height);
// draw slot
g.FillRectangle(new SolidBrush(Parent.Gray1), slotRect);
g.DrawLine(new Pen(Parent.Gray5, 2), slotRect.X, slotRect.Y, slotRect.X + slotRect.Width, slotRect.Y);
g.DrawLine(new Pen(Parent.Gray5, 2), slotRect.X, slotRect.Y, slotRect.X, slotRect.Y + slotRect.Height);
// draw fader knob
float knobHeight = faderAreaRect.Height / 10;
RectangleF faderKnob = new RectangleF();
if (Type == FaderType.Vertical)
{
faderKnob = new RectangleF(faderAreaRect.X, faderAreaRect.Y + faderAreaRect.Height - (int)(Percent * (faderAreaRect.Height * 0.9)) - faderAreaRect.Height / 10, faderAreaRect.Width, faderAreaRect.Height / 10);
}
else if (Type == FaderType.Horizontal)
{
faderKnob = new RectangleF(faderAreaRect.X + (int)(Percent * (faderAreaRect.Width * 0.9)), faderAreaRect.Y, faderAreaRect.Width / 10, faderAreaRect.Height);
}
g.FillRectangle(new SolidBrush(Parent.BaseColor), faderKnob);
// draw value
var valuePen = new Pen(Parent.BaseColor, 5);
if (Type == FaderType.Vertical)
{
float x0 = valueAreaRect.X + valueAreaRect.Width / 2;
float y1 = valueAreaRect.Y + valueAreaRect.Height;
float y0 = (float)(y1 - valueAreaRect.Height * Percent);
g.DrawLine(valuePen, x0, y0, x0, y1);
}
// draw borders
//var pen = new Pen(Color.White, 3);
// g.DrawRectangle(pen, box);
}
/// <summary>
/// Copies the renderered image to the GuiContext.
/// </summary>
public override void Render(GuiContext c)
{
// should we assume its already rendered?
//Rendererer.Render();
var r = new Rectangle();
r.X = c.X;
r.Y = c.Y;
r.Width = Width;
r.Height = Height;
var g = c.GetGraphics();
g.DrawImageUnscaledAndClipped(Rendererer.Image, r);
}
public VerticalList(GuiContext context)
: base(context)
{
}
/// <summary>
/// Constructor accepts the context this is for.
/// </summary>
public ControlRegistration(GuiContext parent)
{
Parent = parent;
}
/// <summary>
/// Draws a white circle 3px thick with a line representing
/// the current value, with 1/4 of the circle at the bottom
/// not used, with a curve around it from the start point
/// to the current point in yellow.
/// </summary>
public override void Render(GuiContext c)
{
var testbmp = new Bitmap(Width, Height);
//var g = Graphics.FromImage(testbmp);
var g = c.GetGraphics();
g.SmoothingMode = SmoothingMode.AntiAlias;
g.CompositingQuality = CompositingQuality.HighQuality;
g.InterpolationMode = InterpolationMode.HighQualityBicubic;
// get different radiuses
var fullRadius = Width / 2.0;
var lineStartRadius = fullRadius * 0.25;
var lineEndRadius = fullRadius * 0.55;
// get theta of value
var theta0 = Math.PI * (-0.25);
var theta1 = Math.PI * 1.25;
var theta = theta0 + ((theta1 - theta0) * (1 - Percent));
// get line sizes
float valuePenWidth = (float)Width * 0.12F;
float linePenWidth = (float)Width * 0.04F;
// shadow positions
float shadowOffset1 = Width * 0.035F;
float shadowOffset2 = Width * 0.025F;
// calculate important points
var midpoint = new PointF(c.X + Width / 2, c.Y + Height / 2);
var fullRect = new RectangleF(c.X, c.Y, Width, Height);
var borderRect = new RectangleF(c.X + valuePenWidth / 2, c.Y + valuePenWidth / 2, Width - valuePenWidth, Height - valuePenWidth);
var bandCenterRect = new RectangleF(c.X + valuePenWidth, c.Y + valuePenWidth, Width - valuePenWidth * 2, Height - valuePenWidth * 2);
var knobRect = new RectangleF(c.X + valuePenWidth * 1.5F, c.Y + valuePenWidth * 1.5F, Width - valuePenWidth * 3F, Height - valuePenWidth * 3F);
var knobBorderRect = new RectangleF(knobRect.X + 1, knobRect.Y + 1, knobRect.Width - 2, knobRect.Height - 2);
var shawdowRect = new RectangleF(fullRect.X + 2, fullRect.Y + 5, fullRect.Width, fullRect.Height);
// draw the outer band
g.FillEllipse(new LinearGradientBrush(borderRect, BandColor1, BandColor2, LinearGradientMode.Vertical), borderRect);
// draw the outline for the outer band
g.DrawEllipse(new Pen(OuterBorderColor, 2), borderRect);
//g.DrawEllipse(new Pen(InnerBorderColor1, 3), knobBorderRect);
//g.DrawEllipse(new Pen(InnerBorderColor2, 5), knobBorderRect2);
// draw the knob
g.FillEllipse(new LinearGradientBrush(knobRect, KnobColor1, KnobColor2, LinearGradientMode.Vertical), knobRect);
g.DrawArc(new Pen(InnerBorderColor1, 1), knobBorderRect, 210, 120);
g.DrawArc(new Pen(InnerBorderColor2, 2), knobBorderRect, 30, 120);
// draw the value arc
float arcLength = (float)Percent * 270;
g.DrawArc(new Pen(ValueColor, valuePenWidth), fullRect, 135, arcLength);
g.DrawArc(new Pen(ValueBandColor, valuePenWidth), bandCenterRect, 135, arcLength);
// draw the line pointing at the value
var lineStartRel = new PointF((float)(Math.Cos(theta) * lineStartRadius), (float)(Math.Sin(theta) * lineStartRadius));
var lineEndRel = new PointF((float)(Math.Cos(theta) * lineEndRadius), (float)(Math.Sin(theta) * lineEndRadius));
g.DrawLine(new Pen(LineColor, linePenWidth), midpoint.X + lineStartRel.X, midpoint.Y - lineStartRel.Y, midpoint.X + lineEndRel.X, midpoint.Y - lineEndRel.Y);
// label test
var font = new Font("arial", 8);
g.DrawString("Knob", font, new SolidBrush(Color.White), c.X + Width / 2, c.Y + Height, new StringFormat()
{
Alignment = StringAlignment.Center
});
}
public Button(GuiContext context)
: base(context)
{
}
public Label(GuiContext context)
: base(context)
{
}
static void Main(string[] args)
{
{
double[][] arr;
arr = new double[3][];
arr[0] = new double[4] {
9, 8, 7, 6
};
arr[1] = new double[4] {
42, 13, 7, 2
};
arr[2] = new double[4] {
101, 102, 103, 104
};
MeshAttributeCLASSES meshComponent2 = MeshAttributeCLASSES.makeDouble4(arr);
double[] readback = meshComponent2.getDouble4Accessor()[1];
int breakPointHere = 42;
}
// test solver for trivial cases
{
double one = 1.0;
double J11 = 1.0, J22 = 1.0, J33 = 1.0, // principal moments of inertia of the body
w1 = 0, w2 = 0, w3 = 0, // angular velocity of spacecraft in spacecraft frame
// result values
q1Dot, q2Dot, q3Dot, q4Dot,
w1Dot, w2Dot, w3Dot,
// coeefficients, taken from the paper
gamma = 0.7,
aCoefficient = 1.25,
d = 7.5, k = 3.0, betaOne = 0.001;
Quaternion spacecraftOrientationError;
// set to identity
/*
* spacecraftOrientationError.i = 0;
* spacecraftOrientationError.j = 0;
* spacecraftOrientationError.k = 0;
* spacecraftOrientationError.scalar = 1;
*/
spacecraftOrientationError = QuaternionUtilities.makeFromAxisAndAngle(new SpatialVectorDouble(new double[] { 1, 0, 0 }), 1.0);
QuaternionFeedbackRegulatorForSpacecraft.calcControl(
J11, J22, J33,
spacecraftOrientationError.i, spacecraftOrientationError.j, spacecraftOrientationError.k, spacecraftOrientationError.scalar,
w1, w2, w3,
out q1Dot, out q2Dot, out q3Dot, out q4Dot,
out w1Dot, out w2Dot, out w3Dot,
aCoefficient,
gamma,
d, k,
betaOne
);
// changes must be zero
Debug.Assert(q1Dot == 0);
Debug.Assert(q2Dot == 0);
Debug.Assert(q3Dot == 0);
Debug.Assert(q4Dot == 0);
Debug.Assert(w1Dot == 0);
Debug.Assert(w2Dot == 0);
Debug.Assert(w3Dot == 0);
int breakPointHere = 42;
}
SimplexSolver simplexSolver = new SimplexSolver();
/* first example from video tutorial, https://www.youtube.com/watch?v=Axg9OhJ4cjg, bottom row is negative unlike in the video
*/
simplexSolver.matrix = Matrix.makeByRowsAndColumns(3, 5);
simplexSolver.matrix[0, 0] = 4;
simplexSolver.matrix[0, 1] = 8;
simplexSolver.matrix[0, 2] = 1;
simplexSolver.matrix[0, 3] = 0;
simplexSolver.matrix[0, 4] = 24;
simplexSolver.matrix[1, 0] = 2;
simplexSolver.matrix[1, 1] = 1;
simplexSolver.matrix[1, 2] = 0;
simplexSolver.matrix[1, 3] = 1;
simplexSolver.matrix[1, 4] = 10;
simplexSolver.matrix[2, 0] = -3;
simplexSolver.matrix[2, 1] = -4;
simplexSolver.matrix[2, 2] = 0;
simplexSolver.matrix[2, 3] = 0;
simplexSolver.matrix[2, 4] = 0;
simplexSolver.iterate();
// result must be ~16.67
Debug.Assert(simplexSolver.matrix[2, 4] > 16.6 && simplexSolver.matrix[2, 4] < 16.8);
// TODO< move into unittest for Matrix >
Matrix toInverseMatrix = new Matrix(2, 2);
toInverseMatrix[0, 0] = 2.0f;
toInverseMatrix[0, 1] = 1.0f;
toInverseMatrix[1, 0] = 2.0f;
toInverseMatrix[1, 1] = 2.0f;
Matrix inversedMatrix = toInverseMatrix.inverse();
Debug.Assert(System.Math.Abs(inversedMatrix[0, 0] - 1.0f) < 0.001f);
Debug.Assert(System.Math.Abs(inversedMatrix[0, 1] - -0.5f) < 0.001f);
Debug.Assert(System.Math.Abs(inversedMatrix[1, 0] - -1.0f) < 0.001f);
Debug.Assert(System.Math.Abs(inversedMatrix[1, 1] - 1.0f) < 0.001f);
// test pid controller
if (false)
{
Pid.Configuration pidConfiguration = new Pid.Configuration();
pidConfiguration.integral = 0;
pidConfiguration.derivative = 0.1;
pidConfiguration.proportial = 0.3;
Pid pid = Pid.makeByTargetAndConfiguration(0, pidConfiguration);
double value = 1.0;
double control;
control = pid.step(value, 0.5);
value += control;
for (int i = 0; i < 10; i++)
{
control = pid.step(value, 0.5);
value += control;
Console.WriteLine("value={0} control={1}", value, control);
}
int breakPointHere0 = 1;
}
EntityManager entityManager = new EntityManager();
SolidResponsibility solidResponsibility;
EffectResponsibility effectResponsibility;
ThrusterResponsibility thrusterResponsibility;
AttitudeAndAccelerationControlResponsibility attitudeAndAccelerationControlResponsibility;
thrusterResponsibility = new ThrusterResponsibility();
attitudeAndAccelerationControlResponsibility = new AttitudeAndAccelerationControlResponsibility(thrusterResponsibility);
effectResponsibility = new EffectResponsibility();
solidResponsibility = new SolidResponsibility();
solidResponsibility.mapping = new PhysicsObjectIdToSolidClusterMapping();
EntityController entityController = new EntityController();
IKeyboardInputHandler keyboardInputHandler = new PlayerShipControlInputHandler(entityController);
KeyboardInputRemapper keyboardInputRemapper = new KeyboardInputRemapper(keyboardInputHandler);
SoftwareRenderer softwareRenderer = new SoftwareRenderer();
PrototypeForm prototypeForm = new PrototypeForm();
prototypeForm.softwareRenderer = softwareRenderer;
IGuiRenderer guiRenderer = prototypeForm.softwareGuiRenderer;
GuiContext guiContext = new GuiContext(guiRenderer);
prototypeForm.guiContext = guiContext;
KeyboardEventRouterOfGui keyboardEventRouterOfGui = new KeyboardEventRouterOfGui(guiContext.selectionTracker);
KeyboardInputRouter keyboardInputRouter = new KeyboardInputRouter(keyboardInputRemapper, keyboardEventRouterOfGui);
prototypeForm.keyboardInputRouter = keyboardInputRouter;
prototypeForm.Show();
PhysicsEngine physicsEngine = new PhysicsEngine();
solidResponsibility.physicsEngine = physicsEngine;
physicsEngine.collisionHandlers.Add(new DefaultCollisionHandler()); // add the default collision handler for absorbing all particles
AttachedForce thruster = new AttachedForce(
new SpatialVectorDouble(new double[] { 0, 1, 0 }), // localLocation
new SpatialVectorDouble(new double[] { 1, 0, 0 }) // localDirection
);
PhysicsComponent physicsComponent;
{
double mass = 1.0;
Matrix inertiaTensor = InertiaHelper.calcInertiaTensorForCube(mass, 1.0, 1.0, 1.0);
physicsComponent = physicsEngine.createPhysicsComponent(new SpatialVectorDouble(new double[] { 0, 0, 10 }), new SpatialVectorDouble(new double[] { 0, 0, 0 }), mass, inertiaTensor);
}
physicsComponent.attachedForces.Add(thruster);
MeshComponent meshComponent = new MeshComponent();
meshComponent.mesh = new MeshWithExplicitFaces();
meshComponent.mesh.faces = new MeshWithExplicitFaces.Face[1];
meshComponent.mesh.faces[0] = new MeshWithExplicitFaces.Face();
meshComponent.mesh.faces[0].verticesIndices = new uint[] { 0, 1, 2 };
{ // create a VerticesWithAttributes with just positions
MutableMeshAttribute positionMeshAttribute = MutableMeshAttribute.makeDouble4ByLength(4);
positionMeshAttribute.getDouble4Accessor()[0] = new double[] { -1, -1, 0, 1 };
positionMeshAttribute.getDouble4Accessor()[1] = new double[] { 1, -1, 0, 1 };
positionMeshAttribute.getDouble4Accessor()[2] = new double[] { 0, 1, 0, 1 };
positionMeshAttribute.getDouble4Accessor()[3] = new double[] { 0, 0, 1, 1 };
VerticesWithAttributes verticesWithAttributes = new VerticesWithAttributes(new AbstractMeshAttribute[] { positionMeshAttribute }, 0);
meshComponent.mesh.verticesWithAttributes = verticesWithAttributes;
}
//TransformedMeshComponent transformedMeshComponentForPhysics = new TransformedMeshComponent();
//transformedMeshComponentForPhysics.meshComponent = meshComponent;
IList <ColliderComponent> colliderComponents = new List <ColliderComponent>();
{
SpatialVectorDouble colliderComponentSize = new SpatialVectorDouble(new double[] { 2, 2, 2 });
SpatialVectorDouble colliderComponentLocalPosition = new SpatialVectorDouble(new double[] { 0, 0, 0 });
SpatialVectorDouble colliderComponentLocalRotation = new SpatialVectorDouble(new double[] { 0, 0, 0 });
ColliderComponent colliderComponent0 = ColliderComponent.makeBox(colliderComponentSize, colliderComponentLocalPosition, colliderComponentLocalRotation);
colliderComponents.Add(colliderComponent0);
}
///physicsEngine.physicsAndMeshPairs.Add(new PhysicsComponentAndCollidersPair(physicsComponent, colliderComponents));
// same mesh for the visualization
TransformedMeshComponent transformedMeshComponentForRendering = new TransformedMeshComponent();
transformedMeshComponentForRendering.meshComponent = meshComponent;
///softwareRenderer.physicsAndMeshPairs.Add(new PhysicsComponentAndMeshPair(physicsComponent, transformedMeshComponentForRendering));
physicsEngine.tick();
// TODO< read object description from json and create physics and graphics objects >
// TODO< read and create solid description from json >
// create and store solids of rocket
// refactored
/*
* if ( true ) {
*
*
* SolidCluster solidClusterOfRocket = new SolidCluster();
*
* // create solid of rocket
* {
* SpatialVectorDouble solidSize = new SpatialVectorDouble(new double[] { 2, 2, 2 });
* double massOfSolidInKilogram = 1.0;
* IList<CompositionFraction> solidCompositionFractions = new List<CompositionFraction>() { new CompositionFraction(new Isotope("Fe56"), massOfSolidInKilogram) };
* Composition solidComposition = new Composition(solidCompositionFractions);
*
* physics.solid.Solid solid = physics.solid.Solid.makeBox(solidComposition, solidSize);
*
* SpatialVectorDouble solidLocalPosition = new SpatialVectorDouble(new double[] { 0, 0, 0 });
* SpatialVectorDouble solidLocalRotation = new SpatialVectorDouble(new double[] { 0, 0, 0 });
*
* solidClusterOfRocket.solids.Add(new SolidCluster.SolidWithPositionAndRotation(solid, solidLocalPosition, solidLocalRotation));
* }
*
* /// TODO, uncommented because it uses the not existing physics object
* /// solidResponsibility.mapping.physicsObjectIdToSolidCluster[rocketPhysicsObject.id] = solidClusterOfRocket;
* }
*/
// add test particle
if (false)
{
SpatialVectorDouble particlePosition = new SpatialVectorDouble(new double[] { 0, 0, 0 });
SpatialVectorDouble particleVelocity = new SpatialVectorDouble(new double[] { 0, 0, 1 });
PhysicsComponent particlePhysicsComponent = physicsEngine.createPhysicsComponent(particlePosition, particleVelocity, 1.0, null);
physicsEngine.addParticle(particlePhysicsComponent);
}
// write game object for TestMissile
if (true)
{
DemoObjectSerializer.seralizeAndWriteShip();
DemoObjectSerializer.serializeAndWriteMissile();
}
GameObjectBuilder gameObjectBuilder = new GameObjectBuilder();
gameObjectBuilder.physicsEngine = physicsEngine;
gameObjectBuilder.softwareRenderer = softwareRenderer;
gameObjectBuilder.solidResponsibility = solidResponsibility;
gameObjectBuilder.effectResponsibility = effectResponsibility;
gameObjectBuilder.thrusterResponsibility = thrusterResponsibility;
gameObjectBuilder.attitudeAndAccelerationControlResponsibility = attitudeAndAccelerationControlResponsibility;
// load missile game object from json and construct it
if (false)
{
GameObjectTemplate deserilizedGameObjectTemplate;
// load
{
List <string> uriParts = new List <string>(AssemblyDirectory.Uri.Segments);
uriParts.RemoveAt(0); // remove first "/"
uriParts.RemoveRange(uriParts.Count - 4, 4);
uriParts.AddRange(new string[] { "gameResources/", "prototypingMissile.json" });
string path = string.Join("", uriParts).Replace('/', '\\').Replace("%20", " ");
string fileContent = File.ReadAllText(path);
deserilizedGameObjectTemplate = GameObjectTemplate.deserialize(fileContent);
}
// build game object from template
Entity createdEntity;
{
SpatialVectorDouble globalPosition = new SpatialVectorDouble(new double[] { 0, 0, 5 });
SpatialVectorDouble globalVelocity = new SpatialVectorDouble(new double[] { 0, 0, 0 });
createdEntity = gameObjectBuilder.buildFromTemplate(deserilizedGameObjectTemplate, globalPosition, globalVelocity);
entityManager.addEntity(createdEntity);
}
// manually add components
{
// TODO< chemical explosive ignition component >
DummyComponent chemicalExplosiveIgnitionComponent = new DummyComponent();
// remap proximityEnter to explode
EventRemapperComponent eventRemapper = new EventRemapperComponent(chemicalExplosiveIgnitionComponent);
eventRemapper.eventTypeMap["proximityEnter"] = "explode";
// TODO< blacklist somehow other missiles >
PhysicsComponent parentPhysicsComponent = createdEntity.getSingleComponentsByType <PhysicsComponent>();
ProximityDetectorComponent proximityDetector = ProximityDetectorComponent.makeSphereDetector(physicsEngine, parentPhysicsComponent, 20.0, eventRemapper);
entityManager.addComponentToEntity(createdEntity, proximityDetector);
}
}
Entity playerShip;
if (true)
{
GameObjectTemplate deserilizedGameObjectTemplate;
// load
{
List <string> uriParts = new List <string>(AssemblyDirectory.Uri.Segments);
uriParts.RemoveAt(0); // remove first "/"
uriParts.RemoveRange(uriParts.Count - 4, 4);
uriParts.AddRange(new string[] { "gameResources/", "prototypingShip.json" });
string path = string.Join("", uriParts).Replace('/', '\\').Replace("%20", " ");
string fileContent = File.ReadAllText(path);
deserilizedGameObjectTemplate = GameObjectTemplate.deserialize(fileContent);
}
// build game object from template
{
SpatialVectorDouble globalPosition = new SpatialVectorDouble(new double[] { 0, 0, 10 });
SpatialVectorDouble globalVelocity = new SpatialVectorDouble(new double[] { 0, 0, 0 });
Entity createdEntity = gameObjectBuilder.buildFromTemplate(deserilizedGameObjectTemplate, globalPosition, globalVelocity);
entityManager.addEntity(createdEntity);
playerShip = createdEntity;
}
}
Entity aiShip = null;
EntityController aiShipController = new EntityController();
VehicleAlignToCommand command = null;
bool withTestAiShip = true;
if (withTestAiShip)
{
GameObjectTemplate deserilizedGameObjectTemplate;
// load
{
List <string> uriParts = new List <string>(AssemblyDirectory.Uri.Segments);
uriParts.RemoveAt(0); // remove first "/"
uriParts.RemoveRange(uriParts.Count - 4, 4);
uriParts.AddRange(new string[] { "gameResources/", "prototypingShip.json" });
string path = string.Join("", uriParts).Replace('/', '\\').Replace("%20", " ");
string fileContent = File.ReadAllText(path);
deserilizedGameObjectTemplate = GameObjectTemplate.deserialize(fileContent);
}
// build game object from template
{
SpatialVectorDouble globalPosition = new SpatialVectorDouble(new double[] { 0, 0, 10 });
SpatialVectorDouble globalVelocity = new SpatialVectorDouble(new double[] { 0, 0, 0 });
Entity createdEntity = gameObjectBuilder.buildFromTemplate(deserilizedGameObjectTemplate, globalPosition, globalVelocity);
entityManager.addEntity(createdEntity);
aiShip = createdEntity;
}
{ // control
aiShip.getSingleComponentsByType <VehicleControllerComponent>().controller = aiShipController;
}
{ // AI initialization
double dt = 1.0 / 60.0;
SpatialVectorDouble targetDirection = new SpatialVectorDouble(new double[] { 1, 0, 0.1 }).normalized();
double targetDerivationDistance = 0.001;
ulong targetPhysicsObjectId = aiShip.getSingleComponentsByType <PhysicsComponent>().id;
command = VehicleAlignToCommand.makeByGettingPidConfigurationFromAttitudeAndAccelerationControlResponsibility(
attitudeAndAccelerationControlResponsibility,
physicsEngine,
dt,
targetDirection,
aiShipController,
targetPhysicsObjectId,
targetDerivationDistance);
}
}
//
{
}
playerShip.getSingleComponentsByType <VehicleControllerComponent>().controller = entityController;
// create test GUI
{
Button button = new subsystems.gui.Button();
button.position = new SpatialVectorDouble(new double[] { 0.2, 0.2 });
button.size = new SpatialVectorDouble(new double[] { 0.3, 0.1 });
button.text = "[Gamesave05-res.save](35)";
button.textScale = new SpatialVectorDouble(new double[] { 0.05, 0.08 });
guiContext.addGuiElement(button);
}
ulong frameCounter = 0;
ulong debugFrameCounter = 0; // used to limit the frames we do for debugging a scenario
bool isFixedScenarioDebugMode = false;
// TODO< use logger >
StreamWriter debugLogFileOfVariables = null; // used to debug variables and coeeficients of the debug scenario
if (isFixedScenarioDebugMode)
{
if (!File.Exists("E:\\myLogShipOrientation.txt"))
{
using (var stream = File.Create("E:\\myLogShipOrientation.txt"));
}
debugLogFileOfVariables = File.AppendText("E:\\myLogShipOrientation.txt");
}
for (;;)
{
Console.WriteLine("frame={0}", frameCounter);
guiContext.tick();
physicsEngine.tick();
if (!isFixedScenarioDebugMode)
{
prototypeForm.Refresh();
Application.DoEvents(); // HACK, EVIL
}
// AI
{
// we just do this small AI because we are testing
if (false && aiShip != null)
{
command.process();
}
}
// AI - attitude control test
// we change the rotation velocity of the spacecraft directly to simulate "perfect" thruster control
{
PhysicsComponent objectOfControlledSpacecraft = aiShip.getSingleComponentsByType <PhysicsComponent>();
double
// principal moments of inertia of the body
// the controller assumes that the body has an inertia tensor like an box, but small derivations are propably fine, too
J11 = objectOfControlledSpacecraft.inertiaTensor[0, 0], J22 = objectOfControlledSpacecraft.inertiaTensor[1, 1], J33 = objectOfControlledSpacecraft.inertiaTensor[2, 2],
// angular velocity of spacecraft in spacecraft frame
w1 = objectOfControlledSpacecraft.eulerLocalAngularVelocity.x,
w2 = objectOfControlledSpacecraft.eulerLocalAngularVelocity.y,
w3 = objectOfControlledSpacecraft.eulerLocalAngularVelocity.z,
// result values
q1Dot, q2Dot, q3Dot, q4Dot,
w1Dot, w2Dot, w3Dot,
// coeefficients, taken from the paper
gamma = 0.7,
aCoefficient = 1.25,
d = 7.5, k = 3.0, betaOne = 0.001;
// calculate the rotation delta to our target orientation from the current orientation
double debugMagnitude = objectOfControlledSpacecraft.rotation.magnitude;
Quaternion spacecraftOrientationError = objectOfControlledSpacecraft.rotation.difference(QuaternionUtilities.makeFromEulerAngles(0, 0.5, 0));
QuaternionFeedbackRegulatorForSpacecraft.calcControl(
J11, J22, J33,
spacecraftOrientationError.i, spacecraftOrientationError.j, spacecraftOrientationError.k, spacecraftOrientationError.scalar,
w1, w2, w3,
out q1Dot, out q2Dot, out q3Dot, out q4Dot,
out w1Dot, out w2Dot, out w3Dot,
aCoefficient,
gamma,
d, k,
betaOne
);
Console.WriteLine(
"w1dot={0}, w2dot={1}, w3dot={2}", w1Dot.ToString("0.0000", System.Globalization.CultureInfo.InvariantCulture), w2Dot.ToString("0.0000", System.Globalization.CultureInfo.InvariantCulture), w3Dot.ToString("0.0000", System.Globalization.CultureInfo.InvariantCulture)
);
if (isFixedScenarioDebugMode)
{
debugLogFileOfVariables.WriteLine("w1dot={0}, w2dot={1}, w3dot={2}", w1Dot.ToString("0.0000", System.Globalization.CultureInfo.InvariantCulture), w2Dot.ToString("0.0000", System.Globalization.CultureInfo.InvariantCulture), w3Dot.ToString("0.0000", System.Globalization.CultureInfo.InvariantCulture));
debugLogFileOfVariables.Flush();
}
// access directly
objectOfControlledSpacecraft.eulerLocalAngularVelocity.x += (w1Dot * (1.0 / 60.0));
objectOfControlledSpacecraft.eulerLocalAngularVelocity.y += (w2Dot * (1.0 / 60.0));
objectOfControlledSpacecraft.eulerLocalAngularVelocity.z += (w3Dot * (1.0 / 60.0));
}
attitudeAndAccelerationControlResponsibility.resetAllThrusters();
entityManager.updateAllEntities();
// order after update is important
attitudeAndAccelerationControlResponsibility.limitAllThrusters();
attitudeAndAccelerationControlResponsibility.transferThrusterForce();
//thruster.forceInNewton = 0.5 * entityController.inputAcceleration;
if (!isFixedScenarioDebugMode)
{
Thread.Sleep((int)((1.0 / 60.0) * 1000.0));
}
if (isFixedScenarioDebugMode)
{
debugLogFileOfVariables.WriteLine("{0},", aiShip.getSingleComponentsByType <PhysicsComponent>().rotation.j.ToString("0.0000", System.Globalization.CultureInfo.InvariantCulture));
debugLogFileOfVariables.Flush();
}
//File.AppendText("E:\\myLogShipOrientation.txt").WriteLine("{0},", aiShip.getSingleComponentsByType<PhysicsComponent>().rotation.y);
if (isFixedScenarioDebugMode && debugFrameCounter >= 8000) // 30000
{
break;
}
debugFrameCounter++;
frameCounter++;
}
}
/// <summary>
/// Draws nothing.
/// </summary>
public override void Render(GuiContext c)
{
}
public RootContext () {
GuiContext = new GuiContext();
instance = this;
Turn = 1;
}
public GuiManager(UserSession parent)
: base(parent)
{
Context = new GuiContext(1024, 768); // first gen iPad resolution
}
/// <summary> /// Draws this control, or if it's a container, all of the /// nested controls. /// </summary> public abstract void Render(GuiContext c);
