private void OnElapsed(object sender, ElapsedEventArgs e)
{
lock (_locker)
{
if (t1 != 0)
{
double power = Power;
double mass = Mass;
long t2 = e.SignalTime.Ticks;
// dt in sec
double dt = (t2 - t1) / 10000000.0;
double a = power / mass;
double v2 = a * dt + v1;
double dl = (v2 + v1) / 2 * dt;
v1 = v2;
if (Math.Abs(dl) > wheelLength)
{
EngenieOverhead?.Invoke();
}
if (dl > 0)
{
Direction = Direction.Forward;
}
else
{
if (dl < 0)
{
Direction = Direction.Back;
}
else
{
Direction = Direction.None;
}
}
distance += dl;
while (Math.Abs(distance) >= wheelLength)
{
SensorEvent?.Invoke();
if (distance > 0)
{
distance -= wheelLength;
}
else
{
distance += wheelLength;
}
}
}
t1 = e.SignalTime.Ticks;
}
}
public void FireSensorEvent(object sender, SensorEventArgs e)
{
SensorEvent?.Invoke(this, e);
}
private void OnTriggerExit2D(Collider2D collision)
{
OnTriggerExit.Invoke(collision);
}
private void OnTriggerStay2D(Collider2D collision)
{
OnTriggerStay.Invoke(collision);
}
private void OnTriggerEnter2D(Collider2D collision)
{
OnTriggerEnter.Invoke(collision);
}
public void CallEvent(SensorEventArgs args)
{
SensorEvent?.Invoke(this, args);
}
