コード例 #1
0
ファイル: MoveSimulator.cs プロジェクト: ChoiHanMin/Portfolio
    // 실질적인 발키리 기체 제어 함수
    void Thread1_UpdateObject(float rotation, float leftSpeed, float rightSpeed, float sideSpeed)
    {
        const int addToDelay = 1;
        // SET SPEED
        float speed = (leftSpeed + rightSpeed) * 7.0f;

        if (Mathf.Abs(leftSpeed) == Mathf.Abs(rightSpeed))
        {
            speed *= 2.0f;
        }

        /// ANIMATION -> ROLL, PITCH
        {
            //움직임 관련, 앞으로 갈때 기우뚱
            Vector2 angle = Thread1_WalkingAnimation(leftSpeed, rightSpeed, sideSpeed);
            renderedRoll  = AngleConverter.LerpAngle(renderedRoll, angle.x, 0.1f);
            renderedPitch = AngleConverter.LerpAngle(renderedPitch, angle.y, 0.1f);

            // WRITE
            basic[0].Roll  = AngleConverter.ToDeviceVer1(renderedRoll);          // X
            basic[0].Pitch = AngleConverter.ToDeviceVer1(renderedPitch);         // Y
            basic[0].Heave = AngleConverter.ToDeviceVer1(bodyAngle.sy * 100.0f); // 높낮이 수정
            basic[0].Delay = 1;
        }

        /// YAW (Z)
        {
            // READ
            double current = AngleConverter.ToTypicalVer2(output.Yaw);
            renderedYaw = AngleConverter.LerpAngle(renderedYaw, (float)current, 0.1f);

            // CONTROL 회전 수정
            FAngleParam param = FAngleParam.MakeAngleParam(current, 0.1f * leftSpeed, -0.1f * rightSpeed, 0.02f, addToDelay, 0);

            //회전관련
            // WRITE
            yawEx[0].Target = AngleConverter.ToDeviceVer2(param.TargetDegree);
            yawEx[0].Delay  = param.Delay;
        }
    }
コード例 #2
0
ファイル: MoveSimulator.cs プロジェクト: ChoiHanMin/Portfolio
    void Thread2_UpdateDevice()
    {
        ExtendedOutput[] temp = new ExtendedOutput[1];


        while (enableThread)
        {
            //uint inPitch = basic[0].Pitch;
            //uint inYaw = yawEx[0].Target;
            //uint yawDelay = yawEx[0].Delay;

            //// Call Device API
            //ExtendedUpdate(basic, rollEx, pitchEx, yawEx, devOutput, devInput, temp);

            //uint outPitch = temp[0].Src.Pitch * 8;
            //uint outYaw = temp[0].Src.YawEx;

            //output.Pitch = 0.7 * Mathf.Abs((int)inPitch - (int)outPitch) / 20000 < 0.125 ? (inPitch + outPitch) / 2 : outPitch;

            //float test = AngleConverter.ModifyOutputYaw(
            //                    (float)AngleConverter.ToTypicalVer2(inYaw),
            //                    (int)yawDelay,
            //                    (float)AngleConverter.ToTypicalVer2(outYaw));
            //output.Yaw = AngleConverter.ToDeviceVer2(test);

            uint inPitch  = basic[0].Pitch;
            uint inYaw    = yawEx[0].Target;
            uint yawDelay = yawEx[0].Delay;

            // Call Device API
            ExtendedUpdate(basic, rollEx, pitchEx, yawEx, devOutput, devInput, temp);

            uint outPitch = temp[0].Src.Pitch * 8;
            uint outYaw   = temp[0].Src.YawEx;

            /// 이번에 목표지점 도달시 거리 수정
            // Update Tick : 1/8 sec
            // Pitch Max Speed : 20000 / 0.7 sec
            // Yaw Max Speed : 36000 / 6.8 sec
            output.Pitch = 0.7 * Mathf.Abs((int)inPitch - (int)outPitch) / 20000 < 0.125 ?
                           (inPitch + outPitch) / 2 :
                           outPitch;

            /// 원래 버전
            if (version == 1)
            {
                output.Yaw = 6.8 * Mathf.Abs((int)inYaw - (int)outYaw) / 36000 < 0.125 ?
                             (inYaw + outYaw) / 2 :
                             outYaw;
                ///Debug.Log(" before = " + outYaw + "\t next = " + output.Yaw + "\t delay = " + yawDelay + "\t dir = " + ((int)output.Yaw - (int)outYaw));
            }
            /// 미리 회전 버전
            if (version == 2)
            {
                // Debug.Log("WHILE IN!!!!!!!!!!!!!!!");
                float test = AngleConverter.ModifyOutputYaw(
                    (float)AngleConverter.ToTypicalVer2(inYaw),
                    (int)yawDelay,
                    (float)AngleConverter.ToTypicalVer2(outYaw));
                output.Yaw = AngleConverter.ToDeviceVer2(test);
            }
        }
        Debug.Log(" ---- END ---- ");
    }