public void Test()
{
var simSettings = new SimulationSettings();
simSettings.RenderMode = RenderModes.Normal;
var game = new SimulatorGame(simSettings, IntPtr.Zero);
_collision = new TerrainCollision(game, game);
_collision.Initialize();
_collision.TmpBuildScene();
// Find new position and velocity from a constant acceleration over timestep
const float dt = 0.017f;
var a = new Vector3(0, 9.81f, 0);
var startCondition1 = new TimestepStartingCondition(Vector3.Zero, Vector3.Zero, a,
Quaternion.Identity, TimeSpan.Zero);
TimestepStartingCondition startCondition2 = startCondition1;
var joystickOutput = new JoystickOutput(0.1f, 0.1f, 0, 0.5f);
for (int i = 0; i < 100; i++)
{
TimestepResult jitterResult = ByJitter(startCondition1, joystickOutput,
startCondition1.StartTime + TimeSpan.FromSeconds(dt), dt);
TimestepResult physicsResult = ByPhysics(startCondition2, joystickOutput,
startCondition2.StartTime + TimeSpan.FromSeconds(dt), dt);
Vector3 dPos = jitterResult.Position - physicsResult.Position;
Vector3 dVel = jitterResult.Velocity - physicsResult.Velocity;
if (jitterResult.Orientation != physicsResult.Orientation)
{
float dPitchDeg =
MathHelper.ToDegrees(VectorHelper.GetPitchAngle(jitterResult.Orientation) -
VectorHelper.GetPitchAngle(physicsResult.Orientation));
float dRollDeg =
MathHelper.ToDegrees(VectorHelper.GetRollAngle(jitterResult.Orientation) -
VectorHelper.GetRollAngle(physicsResult.Orientation));
float dYawDeg =
MathHelper.ToDegrees(VectorHelper.GetHeadingAngle(jitterResult.Orientation) -
VectorHelper.GetHeadingAngle(physicsResult.Orientation));
Console.WriteLine("YPR delta " + dPitchDeg + " " + dRollDeg + " " + dYawDeg);
}
TimeSpan nextStartTime = physicsResult.EndTime;
startCondition1 = new TimestepStartingCondition(jitterResult.Position, jitterResult.Velocity,
a, jitterResult.Orientation, nextStartTime);
startCondition2 = new TimestepStartingCondition(physicsResult.Position, physicsResult.Velocity,
a, physicsResult.Orientation, nextStartTime);
}
}
public HelicopterBase(Game game, TestConfiguration testConfiguration, TerrainCollision collision,
ICameraProvider cameraProvider, BasicEffect effect, SunlightParameters skyParams, HelicopterScenario scenario,
bool playEngineSound, bool isPlayerControlled, bool drawText)
: base(game)
{
if (game == null || cameraProvider == null || effect == null || skyParams == null)
{
throw new ArgumentNullException("", @"One or several of the necessary arguments were null!");
}
_game = game;
_testConfiguration = testConfiguration;
_sensorSpecifications = testConfiguration.Sensors;
_collision = collision;
_flyBySensors = testConfiguration.FlyBySensors;
if (_collision != null)
{
_collision.CollidedWithTerrain += gameTime => Crashed(gameTime);
}
_basicEffect = effect;
_skyParams = skyParams;
_scenario = scenario;
_drawText = drawText;
_cameraProvider = cameraProvider;
IsPlayerControlled = isPlayerControlled;
_playEngineSound = playEngineSound;
_estimatedState = new HeliState();
PIDSetup pidSetup = SimulatorResources.GetPIDSetups()[0];
Autopilot = new Autopilot(_scenario.Task, pidSetup);
Log = new List <HelicopterLogSnapshot>();
}
public override void Initialize()
{
float aspectRatio = game.GraphicsDevice.Viewport.AspectRatio;
#region Load Models
//Load Models
Vector3 initPlayerPosition = new Vector3(-500, 550, 500);
player = new Player(game, initPlayerPosition, 5f);
terrain = new Terrain(game);
game.Components.Add(player);
game.Components.Add(terrain);
#endregion
#region Load Cameras
//Load Cameras
thirdPersonCam = new _3rdPersonCam(game, (player.getPosition()), player, Vector3.Up, aspectRatio);
flyByCam = new StaticCam(game, player, Vector3.Up, aspectRatio);
firstPersonCam = new FirstPersonCam(game, player.getPosition(), Vector3.Up, aspectRatio);
availableCameras = new Queue<Camera>();
availableCameras.Enqueue(thirdPersonCam);
availableCameras.Enqueue(flyByCam);
currentCam = availableCameras.Dequeue();
#endregion
#region setup game objects cameras and draw order
player.setCamera(currentCam);
player.DrawOrder = 3;
terrain.setCamera(currentCam);
terrain.DrawOrder = 2;
skybox = new Skybox(game, currentCam, "Space");
skybox.DrawOrder = 1;
game.Components.Add(skybox);
#endregion
#region initialize controls
input = new Control(game, player, thirdPersonCam, false);
game.Components.Add(input);
#endregion
collisionDetector = new Collision(game);
game.Components.Add(collisionDetector);
terrainCollisionDetector = new TerrainCollision(game, terrain);
game.Components.Add(terrainCollisionDetector);
#region Records
//places records on the land scape randomly
Random rand = new Random();
for (int i = 0; i < 10; i++)
{
Vector3 pos = new Vector3(rand.Next(-255*30, 0), 0, rand.Next(0, 255*30 ));
pos.Y = terrain.getTerrainHeight(pos) + 30;
Record newRecord = new Record(game, pos);
recordList.Add(newRecord);
newRecord.setCamera(currentCam);
newRecord.DrawOrder = 3;
game.Components.Add(newRecord);
}
#endregion
optionsHaveChanged();
}
