Пример #1
0
        public void Update(double dt)
        {
            ForceModel.Update(dt);

            v = P / M;
            w = Iinv * L;
            F = R * ForceModel.Force;
            T = R * ForceModel.Torque;

            if (Solver == null)
            {
                Solver = new RK4Solver(TimeDerivatives, 0, State());
            }

            Solver.Step(dt);
            ApplyState(Solver.State);

            R = q.ToRotationMatrix();
            var Rinv = R.Inverse();

            ForceModel.Translation     = x;
            ForceModel.Rotation        = R;
            ForceModel.Velocity        = Rinv * v;
            ForceModel.AngularVelocity = Rinv * w;
        }
Пример #2
0
 public void InitStopped()
 {
     Qeng        = Omega = dOmega = 0;
     load        = 0;
     RotSpeed    = 0;
     phase       = Phase.CUTOFF;
     throttle    = 0;
     Solver      = new RK4Solver(ODEFunction, 0, Vector <double> .Build.DenseOfArray(new double[] { 0, 0, 0 }));
     initialized = true;
 }
Пример #3
0
 public void Init(double Q0)
 {
     Qeng        = load = Q0;
     Omega       = Omega0;
     dOmega      = 0;
     RotSpeed    = Omega;
     phase       = Phase.RUN;
     throttle    = 1.0;
     Solver      = new RK4Solver(ODEFunction, 0, Vector <double> .Build.DenseOfArray(new double[] { Q0, 0, 0 }));
     initialized = true;
 }