public ScenarioTestResult(ScenarioIntermediaryTestResult i, Scenario scenario, HelicopterBase helicopter,
GameTime gameTime, TestScenarioEndTrigger endTrigger)
{
Autopilot = new AutopilotConfiguration
{
MaxHVelocity = helicopter.Autopilot.MaxHVelocity,
PIDSetup = helicopter.Autopilot.PIDSetup.Clone()
};
AvgEstimatedPositionError = i.AccEstimatedPositionError/i.UpdateCount;
AvgHeightAboveGround = i.AccHeightAboveGround/i.UpdateCount;
AvgVelocity = i.AccVelocity/i.UpdateCount;
Duration = gameTime.TotalGameTime - i.StartTime;
EndTrigger = endTrigger;
FlightLog = new List<HelicopterLogSnapshot>(helicopter.Log);
MaxEstimatedPositionError = i.MaxEstimatedPositionError;
MaxHeightAboveGround = i.MaxHeightAboveGround;
MaxVelocity = i.MaxVelocity;
MinEstimatedPositionError = i.MinEstimatedPositionError;
MinHeightAboveGround = i.MinHeightAboveGround;
Scenario = scenario;
Sensors = new SensorSpecifications
{
AccelerometerStdDev = DefaultAutopilotConfiguration.AccelerometerStdDev,
GPSVelocityStdDev = DefaultAutopilotConfiguration.GPSVelocityStdDev,
GPSPositionStdDev = DefaultAutopilotConfiguration.GPSPositionStdDev
};
}
private static Scenario ParseScenario(XmlNode scenarioNode)
{
var scenario = new Scenario();
scenario.Name = scenarioNode.GetAttribute("Name");
scenario.BackgroundMusic = ParseBackgroundMusic(scenarioNode.SelectSingleNode("BackgroundMusic"));
scenario.SceneElements = ParseSceneElements(scenarioNode.SelectSingleNode("Scene"));
scenario.CameraType = ParseCameraType(scenarioNode.SelectSingleNode("CameraType"));
scenario.Timeout = ParseTimeout(scenarioNode.SelectSingleNode("TimeoutSeconds"));
XmlNode terrainInfoNode = scenarioNode.SelectSingleNode("Scene").SelectSingleNode("Terrain");
if (terrainInfoNode != null)
scenario.TerrainInfo = ParseTerrainInfo(terrainInfoNode);
scenario.HelicopterScenarios = ParseHelicopterScenario(scenarioNode);
return scenario;
}
private void NextTestScenario()
{
if (!IsTestMode)
return;
// Proceed to next test scenario since we have tested all velocities at the current test scenario
_testScenarioIter.MoveNext();
_scenario = _testScenarioIter.Current;
// Start over on the set of maxHVelocities to test
_testMaxHVelocityIter = _testConfiguration.MaxHVelocities.GetEnumerator();
_testMaxHVelocityIter.MoveNext();
if (_scenario != null)
Debug.WriteLine("Progressing to next scenario " + _scenario.Name + " at maxHVelocity " +
_testMaxHVelocityIter.Current + ".");
else
Debug.WriteLine("Completed all test scenarios!");
}
private NavigationMap UpdateTerrain(Scenario scenario)
{
if (scenario.SceneElements.Contains("Terrain"))
{
// Build terrain and derive a heightmap from it
TerrainInfo ti = scenario.TerrainInfo;
_terrain.BuildTerrain(ti.Width, ti.MinHeight, ti.MaxHeight);
_heightmap = new NavigationMap(HeightmapToValues(_terrain.Mesh.Heightmap));
}
else
{
// Assume flat ground if not using terrain
_heightmap = new NavigationMap(new [,]
{
{0f, 0f,},
{0f, 0f,},
});
}
return _heightmap;
}
/// <summary>
/// Allows the game to perform any initialization it needs to before starting to run.
/// This is where it can query for any required services and load any non-graphic
/// related content. Calling base.Initialize will enumerate through any components
/// and initialize them as well.
/// </summary>
protected override void Initialize()
{
_basicEffect = CreateBasicEffect(this);
#region Load scenario / test scenarios
_testMaxHVelocityIter = _testConfiguration.MaxHVelocities.GetEnumerator();
if (!_testMaxHVelocityIter.MoveNext())
throw new Exception("No maxHVelocities defined in _testConfiguration.");
_testScenarioIter = _testConfiguration.TestScenarios.GetEnumerator();
if (IsTestMode)
NextTestScenario();
else
{
_testScenarioIter.MoveNext();
_scenario = _testScenarioIter.Current;
}
if (_scenario == null)
throw new Exception("Could not load scenario from XML.");
#endregion
#region Cameras
// We must create a dummy camera target until the helicopter instance is created, to avoid exceptions
var cameraOffset = new Vector3(0.0f, 0.5f, -0.5f);
var startPos = _scenario.HelicopterScenarios[0].StartPosition + cameraOffset;
_cockpitMesh = new SimpleModel("Models/apache-cockpit", this, this);
InitCamera(MyCameraType, startPos + new Vector3(0, 0.5f, 4), new WorldDummy(Vector3.Zero));
#endregion
#region Sunlight, skydome, terrain and trees
// Initialize skydome and sunlight parameters
_skydome = new SkydomeComponent(this, this);
_terrain = new TerrainComponent(this, this, _skydome.Parameters);
UpdateTerrain(_scenario);
// Initialize trees
// TODO Forest component does not support dynamic loading/unloading of components yet
if (_scenario.SceneElements.Contains("Forest"))
_forest = new Forest(this, this, _terrain.Mesh, _skydome.Parameters);
#endregion
#region Misc components
_fpsUtil = new FPS(this);
_barrels = GetBarrels();
_texturedGround = new FlatTexturedGround(this, this);
_currentWaypoint = new WaypointMesh(this, this);
_currentWaypoint.Position = new Vector3(0, 1, 0);
#endregion
#region Physics
_terrainCollision = new TerrainCollision(this, this);
// We implemented our own crash detection for whenever Jitter is disabled
_terrainCollision.SetHeightValues(_heightmap.HeightValues);
#endregion
#region Helicopters
// Initialize helicopter(s)
InitHelicopters(_skydome.Parameters, _heightmap);
Camera.LookAtTarget = _helicopter;
_terrainCollision.Helicopter = _helicopter; // TODO Clean this up, non-intuitive usage
_helicopter.Crashed += HelicopterCrashEventHandler;
#endregion
#region Test scenario results
if (IsTestMode)
{
_testResults = new Dictionary<string, List<ScenarioTestResult>>();
}
#endregion
// Add game components to the game loop
AddGameComponents();
Reset();
base.Initialize();
}
