/// <summary>
/// Adds a multicopter to the simulation environment
/// </summary>
/// <param name="position">The initial start position</param>
private void SimulatorAddMulticopterEntity(MulticopterType multicopterType, float propellerInclination)
{
_multicopterEntity = new MulticopterEntity(multicopterType, propellerInclination, INITIAL_MULTICOPTER_POSITION);
_multicopterEntity.cameraView = _cameraView;
_multicopterEntity.windowStatisticsEventsPort = _windowStatisticsEventsPort;
_multicopterEntity.windowControlEventsPort = _windowControlEventsPort;
SimulationEngine.GlobalInstancePort.Insert(_multicopterEntity);
}
/// <summary>
/// Creates a new multicopter entity
/// </summary>
/// <param name="name">The name of the entity</param>
/// <param name="initialPos">The initial position for the multicopter to be placed</param>
public MulticopterEntity(MulticopterType multicopterType, float propellerInclinationAngle, Vector3 initialPos)
{
// Save the initialization parameters
this.multicopterType = multicopterType;
this.propellerInclinationAngle = propellerInclinationAngle;
this.initialPos = initialPos;
// TO DO Entfernen
Globals.currentMulticopterType = Globals.Instance.multicopterDesignation[multicopterType];
Globals.currentInclinationAngle = ((int)propellerInclinationAngle).ToString() + "°";
// InitializePlot vectors
totalForceVector = new Vector3();
torqueVector = new Vector3();
windForceVector = new Vector3();
// InitializePlot the sound entity
soundEntity = new SoundEntity();
soundEntity.PlaySound();
// InitializePlot miscellaneous
InitializeWindowEventMessages();
InitializePIDController();
InitializeSimplexNoiseGenerators();
// Set the state name
State.Name = Globals.Instance.multicopterDesignation[multicopterType];
// Set the mass densitiy. Mass equals weight of a single multicopter arm times the arms
State.MassDensity.Mass = MULTICOPTER_ARM_MASS * Globals.Instance.multicopterPropellerCount[multicopterType];
State.MassDensity.Density = 0.0f;
// Set the center of mass
State.MassDensity.CenterOfMass = new Pose(new Vector3(0.0f, CHASSIS_DIMENSIONS_HEIGHT / 2, 0.0f));
// Simulate air resistance
// TODO Impuls und Drehimpuls selbst anhand der Fläche simulieren
State.MassDensity.LinearDamping = LINEAR_DAMPING;
State.MassDensity.AngularDamping = ANGULAR_DAMPING;
// Load and scale the 3D mesh of the multicopter
State.Assets.Mesh = Globals.Instance.multicopterMeshFiles[multicopterType];
// Set mesh scale so 1.0f = 1 meter
MeshScale = new Vector3(0.01f, 0.01f, 0.01f);
InsertAttachedCameraEntity();
}
internal void SetInitialMulticopterSettings(MulticopterType multicopterType, float propellerInclination)
{
trackBarMulticopterType.Value = Globals.Instance.multicopterPropellerCount[multicopterType];
trackBarPropellerInclination.Value = (int)(propellerInclination * 10);
}
public OnAction(OnActionActions action, MulticopterType multicopterType, float propellerInclination)
{
this.action = action;
this.multicopterType = multicopterType;
this.propellerInclination = propellerInclination;
}
