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>();
}
/// <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();
}
public HeliPhysics(TerrainCollision collision, bool useTerrainCollision)
{
_collision = collision;
_useTerrainCollision = useTerrainCollision;
}
public HeliPhysics(TerrainCollision collision, bool useTerrainCollision)
{
_collision = collision;
_useTerrainCollision = useTerrainCollision;
}
