本文整理汇总了C#中IMyEntity.GetCentre方法的典型用法代码示例。如果您正苦于以下问题：C# IMyEntity.GetCentre方法的具体用法？C# IMyEntity.GetCentre怎么用？C# IMyEntity.GetCentre使用的例子？那么恭喜您, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类IMyEntity的用法示例。
在下文中一共展示了IMyEntity.GetCentre方法的3个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C#代码示例。
示例1: LastSeen
private LastSeen(IMyEntity entity)
{
this.Entity = entity;
this.LastSeenAt = DateTime.UtcNow;
this.LastKnownPosition = entity.GetCentre();
if (entity.Physics == null)
this.LastKnownVelocity = Vector3D.Zero;
else
this.LastKnownVelocity = entity.Physics.LinearVelocity;
value_isValid = true;
}示例2: in_CalcRotate
/// <summary>
/// Calculates the force necessary to rotate the grid. Two degrees of freedom are used to rotate forward toward Direction; the remaining degree is used to face upward towards UpDirect.
/// </summary>
/// <param name="localMatrix">The matrix to rotate to face the direction, use a block's local matrix or result of GetMatrix()</param>
/// <param name="Direction">The direction to face the localMatrix in.</param>
private void in_CalcRotate(Matrix localMatrix, RelativeDirection3F Direction, RelativeDirection3F UpDirect, IMyEntity targetEntity)
{
m_logger.debugLog(Direction == null, "Direction == null", Logger.severity.ERROR);
m_gyro.Update();
float minimumMoment = Math.Min(m_gyro.InvertedInertiaMoment.Min(), MaxInverseTensor);
if (minimumMoment <= 0f)
{
// == 0f, not calculated yet. < 0f, we have math failure
StopRotate();
m_logger.debugLog(minimumMoment < 0f, "minimumMoment < 0f", Logger.severity.FATAL);
return;
}
localMatrix.M41 = 0; localMatrix.M42 = 0; localMatrix.M43 = 0; localMatrix.M44 = 1;
Matrix inverted; Matrix.Invert(ref localMatrix, out inverted);
localMatrix = localMatrix.GetOrientation();
inverted = inverted.GetOrientation();
Vector3 localDirect = Direction.ToLocalNormalized();
Vector3 rotBlockDirect; Vector3.Transform(ref localDirect, ref inverted, out rotBlockDirect);
float azimuth, elevation; Vector3.GetAzimuthAndElevation(rotBlockDirect, out azimuth, out elevation);
Vector3 rotaRight = localMatrix.Right;
Vector3 rotaUp = localMatrix.Up;
Vector3 NFR_right = Base6Directions.GetVector(Block.CubeBlock.LocalMatrix.GetClosestDirection(ref rotaRight));
Vector3 NFR_up = Base6Directions.GetVector(Block.CubeBlock.LocalMatrix.GetClosestDirection(ref rotaUp));
Vector3 displacement = -elevation * NFR_right - azimuth * NFR_up;
if (UpDirect != null)
{
Vector3 upLocal = UpDirect.ToLocalNormalized();
Vector3 upRotBlock; Vector3.Transform(ref upLocal, ref inverted, out upRotBlock);
upRotBlock.Z = 0f;
upRotBlock.Normalize();
float roll = Math.Sign(upRotBlock.X) * (float)Math.Acos(MathHelper.Clamp(upRotBlock.Y, -1f, 1f));
Vector3 rotaBackward = localMatrix.Backward;
Vector3 NFR_backward = Base6Directions.GetVector(Block.CubeBlock.LocalMatrix.GetClosestDirection(ref rotaBackward));
//m_logger.debugLog("upLocal: " + upLocal + ", upRotBlock: " + upRotBlock + ", roll: " + roll + ", displacement: " + displacement + ", NFR_backward: " + NFR_backward + ", change: " + roll * NFR_backward, "in_CalcRotate()");
displacement += roll * NFR_backward;
}
m_lastMoveAttempt = Globals.UpdateCount;
Pathfinder.TestRotate(displacement);
switch (Pathfinder.m_rotateState)
{
case Autopilot.Pathfinder.Pathfinder.PathState.Not_Running:
m_logger.debugLog("Pathfinder not run yet: " + Pathfinder.m_rotateState);
m_lastMove = Globals.UpdateCount;
return;
case Autopilot.Pathfinder.Pathfinder.PathState.No_Obstruction:
break;
default:
m_logger.debugLog("Pathfinder not allowing rotation: " + Pathfinder.m_rotateState);
return;
}
float distanceAngle = displacement.Length();
if (distanceAngle < m_bestAngle || float.IsNaN(m_navSet.Settings_Current.DistanceAngle))
{
m_bestAngle = distanceAngle;
m_lastMove = Globals.UpdateCount;
}
m_navSet.Settings_Task_NavWay.DistanceAngle = distanceAngle;
//myLogger.debugLog("localDirect: " + localDirect + ", rotBlockDirect: " + rotBlockDirect + ", elevation: " + elevation + ", NFR_right: " + NFR_right + ", azimuth: " + azimuth + ", NFR_up: " + NFR_up + ", disp: " + displacement, "in_CalcRotate()");
m_rotateTargetVelocity = MaxAngleVelocity(displacement, minimumMoment, targetEntity != null);
// adjustment to face a moving entity
if (targetEntity != null)
{
Vector3 relativeLinearVelocity = targetEntity.GetLinearVelocity() - LinearVelocity;
float distance = Vector3.Distance(targetEntity.GetCentre(), Block.CubeBlock.GetPosition());
//myLogger.debugLog("relativeLinearVelocity: " + relativeLinearVelocity + ", tangentialVelocity: " + tangentialVelocity + ", localTangVel: " + localTangVel, "in_CalcRotate()");
float RLV_pitch = Vector3.Dot(relativeLinearVelocity, Block.CubeBlock.WorldMatrix.Down);
float RLV_yaw = Vector3.Dot(relativeLinearVelocity, Block.CubeBlock.WorldMatrix.Right);
float angl_pitch = (float)Math.Atan2(RLV_pitch, distance);
float angl_yaw = (float)Math.Atan2(RLV_yaw, distance);
m_logger.debugLog("relativeLinearVelocity: " + relativeLinearVelocity + ", RLV_yaw: " + RLV_yaw + ", RLV_pitch: " + RLV_pitch + ", angl_yaw: " + angl_yaw + ", angl_pitch: " + angl_pitch + ", total adjustment: " + (NFR_right * angl_pitch + NFR_up * angl_yaw));
m_rotateTargetVelocity += NFR_right * angl_pitch + NFR_up * angl_yaw;
}
//m_logger.debugLog("targetVelocity: " + m_rotateTargetVelocity, "in_CalcRotate()");
//.........这里部分代码省略.........
示例3: CalcRotate
/// <summary>
/// Calculates the force necessary to rotate the grid.
/// </summary>
/// <param name="localMatrix">The matrix to rotate to face the direction, use a block's local matrix or result of GetMatrix()</param>
/// <param name="Direction">The direction to face the localMatrix in.</param>
/// <param name="angularVelocity">The local angular velocity of the controlling block.</param>
private void CalcRotate(Matrix localMatrix, RelativeDirection3F Direction, RelativeDirection3F UpDirect, out Vector3 angularVelocity, IMyEntity targetEntity)
{
myLogger.debugLog(Direction == null, "Direction == null", "CalcRotate()", Logger.severity.ERROR);
angularVelocity = -Vector3.Transform(Block.Physics.AngularVelocity, Block.CubeBlock.WorldMatrixNormalizedInv.GetOrientation());
//myLogger.debugLog("angular: " + angularVelocity, "CalcRotate()");
float gyroForce = myGyro.TotalGyroForce();
float secondsSinceLast = (float)(DateTime.UtcNow - updated_prevAngleVel).TotalSeconds;
updated_prevAngleVel = DateTime.UtcNow;
if (rotateForceRatio != Vector3.Zero)
{
if (secondsSinceLast <= MaxUpdateSeconds)
{
Vector3 ratio = (angularVelocity - prevAngleVel) / (rotateForceRatio * gyroForce * secondsSinceLast);
//myLogger.debugLog("rotateForceRatio: " + rotateForceRatio + ", ratio: " + ratio + ", accel: " + (angularVelocity - prevAngleVel) + ", torque: " + (rotateForceRatio * gyroForce), "CalcRotate()");
myGyro.Update_torqueAccelRatio(rotateForceRatio, ratio);
}
else
myLogger.debugLog("prevAngleVel is old: " + secondsSinceLast, "CalcRotate()", Logger.severity.DEBUG);
}
localMatrix.M41 = 0; localMatrix.M42 = 0; localMatrix.M43 = 0; localMatrix.M44 = 1;
Matrix inverted; Matrix.Invert(ref localMatrix, out inverted);
localMatrix = localMatrix.GetOrientation();
inverted = inverted.GetOrientation();
//myLogger.debugLog("local matrix: right: " + localMatrix.Right + ", up: " + localMatrix.Up + ", back: " + localMatrix.Backward + ", trans: " + localMatrix.Translation, "CalcRotate()");
//myLogger.debugLog("inverted matrix: right: " + inverted.Right + ", up: " + inverted.Up + ", back: " + inverted.Backward + ", trans: " + inverted.Translation, "CalcRotate()");
//myLogger.debugLog("local matrix: " + localMatrix, "CalcRotate()");
//myLogger.debugLog("inverted matrix: " + inverted, "CalcRotate()");
Vector3 localDirect = Direction.ToLocal();
Vector3 rotBlockDirect; Vector3.Transform(ref localDirect, ref inverted, out rotBlockDirect);
rotBlockDirect.Normalize();
float azimuth, elevation; Vector3.GetAzimuthAndElevation(rotBlockDirect, out azimuth, out elevation);
Vector3 rotaRight = localMatrix.Right;
Vector3 rotaUp = localMatrix.Up;
Vector3 NFR_right = Base6Directions.GetVector(Block.CubeBlock.LocalMatrix.GetClosestDirection(ref rotaRight));
Vector3 NFR_up = Base6Directions.GetVector(Block.CubeBlock.LocalMatrix.GetClosestDirection(ref rotaUp));
Vector3 displacement = -elevation * NFR_right - azimuth * NFR_up;
if (UpDirect != null)
{
Vector3 upLocal = UpDirect.ToLocal();
Vector3 upRotBlock; Vector3.Transform(ref upLocal, ref inverted, out upRotBlock);
float roll; Vector3.Dot(ref upRotBlock, ref Vector3.Right, out roll);
Vector3 rotaBackward = localMatrix.Backward;
Vector3 NFR_backward = Base6Directions.GetVector(Block.CubeBlock.LocalMatrix.GetClosestDirection(ref rotaBackward));
myLogger.debugLog("roll: " + roll + ", displacement: " + displacement + ", NFR_backward: " + NFR_backward + ", change: " + (roll * NFR_backward), "CalcRotate()");
displacement += roll * NFR_backward;
}
NavSet.Settings_Task_NavWay.DistanceAngle = displacement.Length();
if (NavSet.Settings_Current.CollisionAvoidance)
{
myPathfinder.TestRotate(displacement);
if (!myPathfinder.CanRotate)
{
// if cannot rotate and not calculating move, move away from obstruction
if (myPathfinder.RotateObstruction != null && Globals.UpdateCount >= m_notCalcMove)
{
Vector3 position = Block.CubeBlock.GetPosition();
Vector3 away = position - myPathfinder.RotateObstruction.GetCentre();
away.Normalize();
myLogger.debugLog("Cannot rotate and not calculating move, creating GOLIS to move away from obstruction", "CalcRotate()", Logger.severity.INFO);
new GOLIS(this, NavSet, position + away * (10f + NavSet.Settings_Current.DestinationRadius), true);
}
Logger.debugNotify("Cannot Rotate", 50);
myLogger.debugLog("Pathfinder not allowing rotation", "CalcRotate()");
return;
}
}
//myLogger.debugLog("localDirect: " + localDirect + ", rotBlockDirect: " + rotBlockDirect + ", elevation: " + elevation + ", NFR_right: " + NFR_right + ", azimuth: " + azimuth + ", NFR_up: " + NFR_up + ", disp: " + displacement, "CalcRotate()");
if (myGyro.torqueAccelRatio == 0)
{
// do a test
myLogger.debugLog("torqueAccelRatio == 0", "CalcRotate()");
//.........这里部分代码省略.........