public static Vector3 ToUnityVector(AirSimVector src)
{
Vector3 vector = new Vector3();
SetToUnity(src, ref vector);
return(vector);
}
public static AirSimVector ToAirSimVector(Vector3 src)
{
AirSimVector vector = new AirSimVector();
SetToAirSim(src, ref vector);
return(vector);
}
public void SetDefaultValues()
{
has_collided = false;
normal = new AirSimVector(0, 0, 0);
impact_point = new AirSimVector(0, 0, 0);
position = new AirSimVector(0, 0, 0);
penetration_depth = 0;
time_stamp = 0;
collision_count = 0;
object_name = "none";
object_id = -1;
}
public void reset()
{
image_uint_len = 0;
image_float_len = 0;
image_data_uint = new byte[] { };
image_data_float = new float[] { };
this.camera_position = new AirSimVector();
this.camera_orientation = new AirSimQuaternion();
this.pixels_as_float = false;
this.compress = false;
this.width = 0;
this.height = 0;
this.image_type = ImageType.Scene;
}
public ImageResponse(string cameraName)
{
image_uint_len = 0;
image_data_uint = null;
image_float_len = 0;
image_data_float = null;
camera_position = new AirSimVector(0, 0, 0);
camera_orientation = new AirSimQuaternion(0, 0, 0, 0);
pixels_as_float = false;
compress = false;
width = 0;
height = 0;
image_type = 0;
}
public RayCastHitResult GetRayCastHit(AirSimVector start, AirSimVector end)
{
DataManager.SetToUnity(start, ref startVec);
DataManager.SetToUnity(end, ref endVec);
calculateRayCast = true;
int count = 500; // wait for max 0.5 second
while (calculateRayCast && count > 0)
{
count--;
}
return(new RayCastHitResult(hitResult, hitInfo.distance));
}
public ImageResponse(List <byte> imageDataInt, List <float> imageDataFloat, string cameraName,
AirSimVector camera_position, AirSimQuaternion camera_orientation,
bool pixels_as_float, bool compress, int width, int height, ImageType image_type)
{
if (imageDataInt == null)
{
image_uint_len = 0;
}
else
{
image_uint_len = imageDataInt.Count;
}
image_data_uint = new byte[image_uint_len];
if (image_uint_len > 0)
{
imageDataInt.CopyTo(image_data_uint);
}
if (imageDataFloat == null)
{
image_float_len = 0;
}
else
{
image_float_len = imageDataFloat.Count;
}
image_data_float = new float[image_float_len];
if (image_float_len > 0)
{
imageDataFloat.CopyTo(image_data_float);
}
this.camera_position = camera_position;
this.camera_orientation = camera_orientation;
this.pixels_as_float = pixels_as_float;
this.compress = compress;
this.width = width;
this.height = height;
this.image_type = image_type;
}
public void DefaultInitialization()
{
Rotation = new AirSimQuaternion(0, 0, 0, 1);
Position = new AirSimVector(0, 0, 0);
Scale3D = new AirSimVector(1, 1, 1);
}
public UnityTransform(AirSimQuaternion rotation, AirSimVector position, AirSimVector scale3d)
{
Rotation = rotation;
Position = position;
Scale3D = scale3d;
}
public Accelerations(AirSimVector linear, AirSimVector angular)
{
this.linear = linear;
this.angular = angular;
}
public Twist(AirSimVector linear, AirSimVector angular)
{
this.linear = linear;
this.angular = angular;
}
public AirSimPose(AirSimVector position, AirSimQuaternion orientation)
{
this.position = position;
this.orientation = orientation;
}
public static void SetToAirSim(Vector3 src, ref AirSimVector dst)
{
dst.Set(src.z, src.x, -src.y);
}
public static void SetToUnity(AirSimVector src, ref Vector3 dst)
{
dst.Set(src.y, -src.z, src.x);
}
private static RayCastHitResult GetRayCastHit(AirSimVector start, AirSimVector end, string vehicleName)
{
var vehicle = Vehicles.Find(element => element.vehicleName == vehicleName);
return(vehicle.VehicleInterface.GetRayCastHit(start, end));
}
