/// <summary>
/// Initializes a new instance of Simulation class with a default window and a viewport
/// </summary>
public Simulation(EngineWindow window)
{
Path contentRoot = Path.CreateDirectory(@"..\..\..\Content\drones").GetAbsolute();
_viewport = window.AddViewport("Default", 1, 1, 0, 0, false);
_cameras = new Dictionary<string, PerspectiveCamera>();
_player = new PlayerInteraction(3030);
SimplyEnvironment env = SimplyEnvironment.Load(contentRoot + new Path("scene.env"));
SimplySim.Xna.Engine.Construction engineConstruction = new SimplySim.Xna.Engine.Construction(this);
SimplySim.Simulation.Engine.Construction simulationConstruction = new SimplySim.Simulation.Engine.Construction(engineConstruction);
WorldDesc worldDesc = simulationConstruction.GenerateWorldDesc(env);
worldDesc.FPS = 600;
worldDesc.MaxIter = 12;
WorldHandle world = AddWorld("DroneWorld", new NewtonWorld(worldDesc));
_scene = CreateSceneManager("Drone Simulation");
simulationConstruction.LoadEnvironment(env, world, _scene);
_actualCameraName = GlobalCameraName;
PerspectiveCamera globalCamera = (PerspectiveCamera)_scene[GlobalCameraName].Entities[0];
_viewport.Camera = globalCamera;
_cameras.Add(GlobalCameraName, globalCamera);
engineConstruction.AddControllers(env, _scene, _viewport);
_scene.PostProcessingManager.ComponentAddedFiltered.Subscribe(new RegexFilter<PostProcessingComponent>("Screen Space Ambient Occlusion"), BindSSAO);
#region Drones
// Box drone
_boxDrone = new Drone(world, BoxDroneName, _player);
_boxDroneHUD = new DroneSensorsHUD(_boxDrone, window.HUDManager);
FourHelixBoxDroneCommand _droneBoxController = new FourHelixBoxDroneCommand(_boxDrone.Rotors);
Parameter altParam = new Parameter(ParameterType.Altitude, new Coefficients(1, 0.1f, 0));
Parameter yawParam = new Parameter(ParameterType.Yaw, new Coefficients(0.5f, 0.1f, 0));
Parameter pitchParam = new Parameter(ParameterType.Pitch, new Coefficients(0.3f, 0.05f, 0.05f));
Parameter rollParam = new Parameter(ParameterType.Roll, new Coefficients(0.3f, 0.05f, 0.05f));
Parameter[] parameters = new Parameter[] { altParam, yawParam, pitchParam, rollParam };
//_fourHelixBoxDroneController = new KeyBoardPIDController(_boxDrone, 1, worldDesc.Gravity.Length(), _droneBoxController, parameters);
_fourHelixBoxDroneController = new PlayerController(_player, _boxDrone, 1, worldDesc.Gravity.Length(), _droneBoxController, parameters);
#endregion
world.World.ActorAddedFiltered.Subscribe(new RegexFilter<IActor> ("[.]ComplexObject[.]Body"), BindCameras);
_scene.Enabled = true;
world.Enabled = true;
}
public PlayerController(PlayerInteraction player, Drone drone, float mass, float gravity, AbstractDroneCommand droneCommand, Parameter[] parameters)
: base(drone, mass, gravity, droneCommand, parameters)
{
_command = droneCommand;
_player = player;
_deltaZ = 0;
_drone = drone;
_isStarted = false;
return;
}
public Drone(WorldHandle world, string name, PlayerInteraction Player)
{
DroneConfig config = Serializer.Instance.Deserialize<DroneConfig>(new Path(name + ".drs"));
_player = Player;
_dictionaryRotors = new Dictionary<string, Rotor>();
foreach (RotorDesc rotorSpecified in config.Rotors)
{
Rotor r = new Rotor(world.World, rotorSpecified, name);
_dictionaryRotors.Add(rotorSpecified.Name, r);
}
_LIDAR = new LIDAR(world, name,_player, this);
world.World.ActorAddedFiltered.Subscribe(new RegexFilter<IActor>(name + "[.]ComplexObject[.]" + config.BodyName), BindActor);
}
public LIDAR(WorldHandle world, string name, PlayerInteraction Player, Drone drone)
{
//Register to actor insertion
_name = "LIDAR" + Guid.NewGuid().ToString();
_player = Player;
world.World.ActorAddedFiltered.Subscribe(new RegexFilter<IActor>("[.]ComplexObject[.]Body"), BindActor);
world.World.AddActuator(this);
_world = world.World;
_drone = drone;
desc = new RayDesc();
origin = new Vector3(0, (float)0.1, 0);
rayVec = new Vector3[1081];
iter = 0;
int index = 0;
for (double i = -45.0; i <= 225; i += 0.25)
{
rayVec[index] = new Vector3((float)(Math.Cos(i*(Math.PI/180.0))), 0, (float)(-1.0 * Math.Sin(i*(Math.PI/180.0))));
index++;
}
}