///
/// It sends updated telemetry information to ForceSeatPM for further processing.
/// Make sure that 'mask' and 'state' fields are set correctly.
/// Make sure to call ForceSeatMI_BeginMotionControl before this function is called.
///
public bool SendTelemetry(ref FSMI_Telemetry telemetry)
{
if (m_api == IntPtr.Zero)
{
return(false);
}
return(m_fsmiSendTelemetry(m_api, ref telemetry) != 0);
}
///
/// It sends updated telemetry information to ForceSeatPM for further processing.
/// Make sure that 'mask' and 'state' fields are set correctly.
/// Make sure to call ForceSeatMI_BeginMotionControl before this function is called.
///
/// NOTE: sfx and audioEffects are optional.
///
public bool SendTelemetry2(ref FSMI_Telemetry telemetry,
ref FSMI_SFX sfx,
ref FSMI_TactileAudioBasedFeedbackEffects audioEffects)
{
if (m_api == IntPtr.Zero)
{
return(false);
}
return(m_fsmiSendTelemetry2(m_api, ref telemetry, ref sfx, ref audioEffects) != 0);
}
public virtual void Update(float deltaTime, ref FSMI_Telemetry telemetry)
{
var velocity = m_rb.transform.InverseTransformDirection(m_rb.velocity);
var rotation = m_rb.transform.rotation;
var localRotation = m_rb.transform.localRotation;
telemetry.rpm = 0;
telemetry.maxRpm = 0;
telemetry.speed = velocity.magnitude * 3.6f; // km/h
telemetry.surgeSpeed = velocity.z;
telemetry.swaySpeed = velocity.x;
telemetry.heaveSpeed = velocity.y;
telemetry.roll = -Mathf.Deg2Rad * (localRotation.eulerAngles.z > 180 ? localRotation.eulerAngles.z - 360 : localRotation.eulerAngles.z);
telemetry.pitch = -Mathf.Deg2Rad * (localRotation.eulerAngles.x > 180 ? localRotation.eulerAngles.x - 360 : localRotation.eulerAngles.x);
telemetry.yaw = Mathf.Deg2Rad * (localRotation.eulerAngles.y > 180 ? localRotation.eulerAngles.y - 360 : localRotation.eulerAngles.y);
if (m_firstCall)
{
m_firstCall = false;
telemetry.surgeAcceleration = 0;
telemetry.swayAcceleration = 0;
telemetry.heaveAcceleration = 0;
telemetry.pitchSpeed = 0;
telemetry.rollSpeed = 0;
telemetry.yawSpeed = 0;
}
else
{
ForceSeatMI_Utils.LowPassFilter(ref telemetry.surgeAcceleration, (telemetry.surgeSpeed - m_prevSurgeSpeed) / deltaTime, FSMI_VT_ACC_LOW_PASS_FACTOR);
ForceSeatMI_Utils.LowPassFilter(ref telemetry.swayAcceleration, (telemetry.swaySpeed - m_prevSwaySpeed) / deltaTime, FSMI_VT_ACC_LOW_PASS_FACTOR);
ForceSeatMI_Utils.LowPassFilter(ref telemetry.heaveAcceleration, (telemetry.heaveSpeed - m_prevHeaveSpeed) / deltaTime, FSMI_VT_ACC_LOW_PASS_FACTOR);
var deltaAngles = new Vector3(
Mathf.DeltaAngle(m_rb.transform.eulerAngles.x, m_prevAngles.x),
Mathf.DeltaAngle(m_rb.transform.eulerAngles.y, m_prevAngles.y),
Mathf.DeltaAngle(m_rb.transform.eulerAngles.z, m_prevAngles.z)
);
ForceSeatMI_Utils.LowPassFilter(ref telemetry.rollSpeed, deltaAngles.z / deltaTime, FSMI_VT_ANGLES_SPEED_LOW_PASS_FACTOR);
ForceSeatMI_Utils.LowPassFilter(ref telemetry.pitchSpeed, deltaAngles.x / deltaTime, FSMI_VT_ANGLES_SPEED_LOW_PASS_FACTOR);
ForceSeatMI_Utils.LowPassFilter(ref telemetry.yawSpeed, deltaAngles.y / deltaTime, FSMI_VT_ANGLES_SPEED_LOW_PASS_FACTOR);
}
m_prevSurgeSpeed = telemetry.surgeSpeed;
m_prevSwaySpeed = telemetry.swaySpeed;
m_prevHeaveSpeed = telemetry.heaveSpeed;
m_prevAngles.x = m_rb.transform.eulerAngles.x;
m_prevAngles.y = m_rb.transform.eulerAngles.y;
m_prevAngles.z = m_rb.transform.eulerAngles.z;
telemetry.gearNumber = m_gearNumber;
}
public void Pause(bool paused)
{
if (null != m_platformInfoObject)
{
m_platformInfoObject.Pause(paused);
}
if (null != m_telemetryObject)
{
m_telemetryObject.Pause(paused);
if (paused)
{
FSMI_Telemetry pauseTelemetry = new FSMI_Telemetry();
pauseTelemetry.mask = FSMI_TEL_BIT.STATE;
pauseTelemetry.structSize = (byte)Marshal.SizeOf(pauseTelemetry);
pauseTelemetry.state = paused ? (byte)FSMI_State.PAUSE : (byte)FSMI_State.NO_PAUSE;
m_api.SendTelemetry(ref pauseTelemetry);
}
}
if (null != m_positioningObject)
{
m_positioningObject.Pause(paused);
if (paused)
{
FSMI_TopTableMatrixPhysical pauseMatrix = new FSMI_TopTableMatrixPhysical();
pauseMatrix.mask = FSMI_POS_BIT.STATE;
pauseMatrix.structSize = (byte)Marshal.SizeOf(pauseMatrix);
pauseMatrix.state = paused ? (byte)FSMI_State.PAUSE : (byte)FSMI_State.NO_PAUSE;
m_api.SendTopTableMatrixPhy(ref pauseMatrix);
}
}
}
