public void GenerateVelocityConstraints()
{
Constraints = new TimingContraint[0];
if (Points.Length <= 2)
{
return;
}
double current = 0.0;
for (int i = 0; i < Points.Length - 1; i++)
{
double dist = CalcDistance(i);
if (Points[i].Velocity < MaxVelocity && i > 0 || (Points[i].Velocity < MaxVelocity && i == 0 && Points[i].Velocity > 0))
{
//
// We need a velocity contraint for this point
//
DistanceVelocityConstraint d = new DistanceVelocityConstraint(current, current + dist, Points[i].Velocity);
Array.Resize <TimingContraint>(ref Constraints, Constraints.Length + 1);
Constraints[Constraints.Length - 1] = d;
}
current += dist;
}
}
public override TimingContraint ReadJson(JsonReader reader, Type objectType, TimingContraint existingValue, bool hasExistingValue, JsonSerializer serializer)
{
TimingContraint ret = null;
if (reader.TokenType == JsonToken.Null)
{
return(ret);
}
JObject obj = JObject.Load(reader);
JToken token = obj["type"];
if (token == null)
{
throw new JsonSerializationException("Error deserializing TimingContstraint, no 'type' field");
}
if (token.ToString() == "centripetal")
{
double maxacc = 0.0;
try
{
token = obj["maxaccel"];
if (token == null)
{
throw new JsonSerializationException("Error deserializing TimingContstraint (type = DistanceVelocityConstraint), no 'maxaccel' field");
}
maxacc = token.ToObject <Double>();
}
catch (Exception ex)
{
throw new JsonSerializationException("Error deserializing TimingContstraint, 'maxaccel' field was not a valid number", ex);
}
ret = new CentripetalAccelerationConstraint(maxacc);
}
else if (token.ToString() == "distance_velocity")
{
double before = 0.0, after = 0.0, velocity = 0.0;
try
{
token = obj["after"];
if (token == null)
{
throw new JsonSerializationException("Error deserializing TimingContstraint (type = DistanceVelocityConstraint), no 'after' field");
}
after = token.ToObject <Double>();
}
catch (Exception ex)
{
throw new JsonSerializationException("Error deserializing TimingContstraint, 'after' field was not a valid number", ex);
}
try
{
token = obj["before"];
if (token == null)
{
throw new JsonSerializationException("Error deserializing TimingContstraint (type = DistanceVelocityConstraint), no 'before' field");
}
before = token.ToObject <Double>();
}
catch (Exception ex)
{
throw new JsonSerializationException("Error deserializing TimingContstraint, 'before' field was not a valid number", ex);
}
try
{
token = obj["velocity"];
if (token == null)
{
throw new JsonSerializationException("Error deserializing TimingContstraint (type = DistanceVelocityConstraint), no 'velocity' field");
}
velocity = token.ToObject <Double>();
}
catch (Exception ex)
{
throw new JsonSerializationException("Error deserializing TimingContstraint, 'velocity' field was not a valid number", ex);
}
ret = new DistanceVelocityConstraint(after, before, velocity);
}
else
{
throw new JsonSerializationException("Error deserializing TimingContstraint, type '" + token.ToString() + "' is not valid");
}
return(ret);
}
