diff --git a/LinearAlgebra/Matrix.cs b/LinearAlgebra/Matrix.cs
index 95978be..e1b453c 100644
--- a/LinearAlgebra/Matrix.cs
+++ b/LinearAlgebra/Matrix.cs
@@ -3,12 +3,14 @@ using System.Diagnostics;
using Passer.LinearAlgebra;
#if UNITY_5_3_OR_NEWER
using Vector3Float = UnityEngine.Vector3;
+using Vector2Float = UnityEngine.Vector2;
#endif
+using Quaternion = UnityEngine.Quaternion;
public readonly struct Slice {
- public int start { get; }
- public int stop { get; }
- public Slice(int start, int stop) {
+ public uint start { get; }
+ public uint stop { get; }
+ public Slice(uint start, uint stop) {
this.start = start;
this.stop = stop;
}
@@ -27,21 +29,39 @@ public class Matrix2 {
this.data = data;
}
+ public Matrix2 Clone() {
+ float[,] data = new float[this.nRows, nCols];
+ for (int rowIx = 0; rowIx < this.nRows; rowIx++) {
+ for (int colIx = 0; colIx < this.nCols; colIx++)
+ data[rowIx, colIx] = this.data[rowIx, colIx];
+ }
+ return new Matrix2(data);
+ }
+
public static Matrix2 Zero(uint nRows, uint nCols) {
return new Matrix2(nRows, nCols);
}
+ public static Matrix2 FromVector3(Vector3Float v) {
+ float[,] result = new float[3, 1];
+ result[0, 0] = v.x;
+ result[1, 0] = v.y;
+ result[2, 0] = v.z;
+ return new Matrix2(result);
+ }
+
public static Matrix2 Identity(uint size) {
return Diagonal(1, size);
- // float[,] resultData = new float[size, size];
- // for (int i = 0; i < size; i++)
- // resultData[i, i] = 1.0f;
- // return new Matrix2(resultData);
+ }
+ public static Matrix2 Identity(uint nRows, uint nCols) {
+ Matrix2 m = Zero(nRows, nCols);
+ m.FillDiagonal(1);
+ return m;
}
public static Matrix2 Diagonal(Matrix1 v) {
- float[,] resultData = new float[v.magnitude, v.magnitude];
- for (int ix = 0; ix < v.magnitude; ix++)
+ float[,] resultData = new float[v.size, v.size];
+ for (int ix = 0; ix < v.size; ix++)
resultData[ix, ix] = v.data[ix];
return new Matrix2(resultData);
}
@@ -51,6 +71,16 @@ public class Matrix2 {
resultData[ix, ix] = f;
return new Matrix2(resultData);
}
+ public void FillDiagonal(Matrix1 v) {
+ uint n = Math.Min(Math.Min(this.nRows, this.nCols), v.size);
+ for (int ix = 0; ix < n; ix++)
+ this.data[ix, ix] = v.data[ix];
+ }
+ public void FillDiagonal(float f) {
+ uint n = Math.Min(this.nRows, this.nCols);
+ for (int ix = 0; ix < n; ix++)
+ this.data[ix, ix] = f;
+ }
public static Matrix2 SkewMatrix(Vector3Float v) {
float[,] result = new float[3, 3] {
@@ -61,6 +91,44 @@ public class Matrix2 {
return new Matrix2(result);
}
+ public Vector3Float GetRow3(int rowIx) {
+ uint cols = this.nCols;
+ Vector3Float row = new() {
+ x = this.data[rowIx, 0],
+ y = this.data[rowIx, 1],
+ z = this.data[rowIx, 2]
+ };
+ return row;
+ }
+ public void SetRow(int rowIx, Matrix1 v) {
+ for (uint ix = 0; ix < v.size; ix++)
+ this.data[rowIx, ix] = v.data[ix];
+ }
+ public void SetRow3(int rowIx, Vector3Float v) {
+ this.data[rowIx, 0] = v.x;
+ this.data[rowIx, 1] = v.y;
+ this.data[rowIx, 2] = v.z;
+ }
+
+ public Matrix1 GetColumn(int colIx) {
+ float[] column = new float[this.nRows];
+ for (int i = 0; i < this.nRows; i++) {
+ column[i] = this.data[i, colIx];
+ }
+ return new Matrix1(column);
+ }
+
+ public static bool AllClose(Matrix2 A, Matrix2 B, float atol = 1e-08f) {
+ for (int i = 0; i < A.nRows; i++) {
+ for (int j = 0; j < A.nCols; j++) {
+ float d = MathF.Abs(A.data[i, j] - B.data[i, j]);
+ if (d > atol)
+ return false;
+ }
+ }
+ return true;
+ }
+
public Matrix2 Transpose() {
float[,] resultData = new float[this.nCols, this.nRows];
for (uint rowIx = 0; rowIx < this.nRows; rowIx++) {
@@ -70,6 +138,9 @@ public class Matrix2 {
return new Matrix2(resultData);
// double checked code
}
+ public Matrix2 transposed {
+ get => Transpose();
+ }
public static Matrix2 operator -(Matrix2 m) {
float[,] result = new float[m.nRows, m.nCols];
@@ -147,31 +218,51 @@ public class Matrix2 {
);
}
-
public static Matrix2 operator *(Matrix2 A, float s) {
float[,] result = new float[A.nRows, A.nCols];
for (int i = 0; i < A.nRows; i++) {
for (int j = 0; j < A.nCols; j++)
- result[i, j] += A.data[i, j] * s;
+ result[i, j] = A.data[i, j] * s;
}
return new Matrix2(result);
}
- public static Matrix2 operator *(float scalar, Matrix2 A) {
- return A * scalar;
+ public static Matrix2 operator *(float s, Matrix2 A) {
+ return A * s;
+ }
+
+ public static Matrix2 operator /(Matrix2 A, float s) {
+ float[,] result = new float[A.nRows, A.nCols];
+
+ for (int i = 0; i < A.nRows; i++) {
+ for (int j = 0; j < A.nCols; j++)
+ result[i, j] = A.data[i, j] / s;
+ }
+
+ return new Matrix2(result);
+ }
+ public static Matrix2 operator /(float s, Matrix2 A) {
+ float[,] result = new float[A.nRows, A.nCols];
+
+ for (int i = 0; i < A.nRows; i++) {
+ for (int j = 0; j < A.nCols; j++)
+ result[i, j] = s / A.data[i, j];
+ }
+
+ return new Matrix2(result);
}
public Matrix2 Slice(Slice slice) {
return Slice(slice.start, slice.stop);
}
- public Matrix2 Slice(int from, int to) {
+ public Matrix2 Slice(uint from, uint to) {
if (from < 0 || to >= this.nRows)
throw new System.ArgumentException("Slice index out of range.");
float[,] result = new float[to - from, this.nCols];
int resultRowIx = 0;
- for (int rowIx = from; rowIx < to; rowIx++) {
+ for (uint rowIx = from; rowIx < to; rowIx++) {
for (int colIx = 0; colIx < this.nCols; colIx++) {
result[resultRowIx, colIx] = this.data[rowIx, colIx];
}
@@ -180,17 +271,36 @@ public class Matrix2 {
return new Matrix2(result);
}
+ public Matrix2 Slice(Slice rowRange, Slice colRange) {
+ return Slice((rowRange.start, rowRange.stop), (colRange.start, colRange.stop));
+ }
+
+ public Matrix2 Slice((uint start, uint stop) rowRange, (uint start, uint stop) colRange) {
+ float[,] result = new float[rowRange.stop - rowRange.start, colRange.stop - colRange.start];
+
+ uint resultRowIx = 0;
+ uint resultColIx = 0;
+ for (uint i = rowRange.start; i < rowRange.stop; i++) {
+ for (uint j = colRange.start; j < colRange.stop; j++)
+ result[resultRowIx, resultColIx] = this.data[i, j];
+ }
+ return new Matrix2(result);
+ }
+
public void UpdateSlice(Slice slice, Matrix2 m) {
int mRowIx = 0;
- for (int rowIx = slice.start; rowIx < slice.stop; rowIx++) {
+ for (uint rowIx = slice.start; rowIx < slice.stop; rowIx++, mRowIx++) {
for (int colIx = 0; colIx < this.nCols; colIx++)
this.data[rowIx, colIx] = m.data[mRowIx, colIx];
}
}
public void UpdateSlice(Slice rowRange, Slice colRange, Matrix2 m) {
- for (int i = rowRange.start; i < rowRange.stop; i++) {
- for (int j = colRange.start; j < colRange.stop; j++)
- this.data[i, j] = m.data[i - rowRange.start, j - colRange.stop];
+ UpdateSlice((rowRange.start, rowRange.stop), (colRange.start, colRange.stop), m);
+ }
+ public void UpdateSlice((uint start, uint stop) rowRange, (uint start, uint stop) colRange, Matrix2 m) {
+ for (uint i = rowRange.start; i < rowRange.stop; i++) {
+ for (uint j = colRange.start; j < colRange.stop; j++)
+ this.data[i, j] = m.data[i - rowRange.start, j - colRange.start];
}
}
@@ -246,23 +356,63 @@ public class Matrix2 {
return new Matrix2(inverse);
}
+
+ public float Determinant() {
+ uint n = this.nRows;
+ if (n != this.nCols)
+ throw new System.ArgumentException("Matrix must be square.");
+
+ if (n == 1)
+ return this.data[0, 0]; // Base case for 1x1 matrix
+
+ if (n == 2) // Base case for 2x2 matrix
+ return this.data[0, 0] * this.data[1, 1] - this.data[0, 1] * this.data[1, 0];
+
+ float det = 0;
+ for (int col = 0; col < n; col++)
+ det += (col % 2 == 0 ? 1 : -1) * this.data[0, col] * this.Minor(0, col).Determinant();
+
+ return det;
+ }
+
+ // Helper function to compute the minor of a matrix
+ private Matrix2 Minor(int rowToRemove, int colToRemove) {
+ uint n = this.nRows;
+ float[,] minor = new float[n - 1, n - 1];
+
+ int r = 0, c = 0;
+ for (int i = 0; i < n; i++) {
+ if (i == rowToRemove) continue;
+
+ c = 0;
+ for (int j = 0; j < n; j++) {
+ if (j == colToRemove) continue;
+
+ minor[r, c] = this.data[i, j];
+ c++;
+ }
+ r++;
+ }
+
+ return new Matrix2(minor);
+ }
}
public class Matrix1 {
public float[] data { get; }
- public uint magnitude => (uint)data.GetLength(0);
+ public uint size => (uint)data.GetLength(0);
- public Matrix1(uint magnitude) {
- this.data = new float[magnitude];
+ public Matrix1(uint size) {
+ this.data = new float[size];
}
public Matrix1(float[] data) {
this.data = data;
}
- public static Matrix1 Zero(uint magnitude) {
- return new Matrix1(magnitude);
+ public static Matrix1 Zero(uint size) {
+ return new Matrix1(size);
}
public static Matrix1 FromVector2(Vector2Float v) {
@@ -280,44 +430,88 @@ public class Matrix1 {
return new Matrix1(result);
}
+ public static Matrix1 FromQuaternion(Quaternion q) {
+ float[] result = new float[4];
+ result[0] = q.x;
+ result[1] = q.y;
+ result[2] = q.z;
+ result[3] = q.w;
+ return new Matrix1(result);
+ }
+
public Vector2Float vector2 {
get {
- if (this.magnitude != 2)
+ if (this.size != 2)
throw new System.ArgumentException("Matrix1 must be of size 2");
return new Vector2Float(this.data[0], this.data[1]);
}
}
public Vector3Float vector3 {
get {
- if (this.magnitude != 3)
+ if (this.size != 3)
throw new System.ArgumentException("Matrix1 must be of size 3");
return new Vector3Float(this.data[0], this.data[1], this.data[2]);
}
}
+ public Quaternion quaternion {
+ get {
+ if (this.size != 4)
+ throw new System.ArgumentException("Matrix1 must be of size 4");
+ return new Quaternion(this.data[0], this.data[1], this.data[2], this.data[3]);
+ }
+ }
+
+ public Matrix1 Clone() {
+ float[] data = new float[this.size];
+ for (int rowIx = 0; rowIx < this.size; rowIx++)
+ data[rowIx] = this.data[rowIx];
+ return new Matrix1(data);
+ }
+
+
+ public float magnitude {
+ get {
+ float sum = 0;
+ foreach (var elm in data)
+ sum += elm;
+ return sum / data.Length;
+ }
+ }
+ public static Matrix1 operator +(Matrix1 A, Matrix1 B) {
+ if (A.size != B.size)
+ throw new System.ArgumentException("Size of A must match size of B.");
+
+ float[] result = new float[A.size];
+
+ for (int i = 0; i < A.size; i++) {
+ result[i] = A.data[i] + B.data[i];
+ }
+ return new Matrix1(result);
+ }
public Matrix2 Transpose() {
- float[,] r = new float[1, this.magnitude];
- for (uint colIx = 0; colIx < this.magnitude; colIx++)
+ float[,] r = new float[1, this.size];
+ for (uint colIx = 0; colIx < this.size; colIx++)
r[1, colIx] = this.data[colIx];
return new Matrix2(r);
}
public static float Dot(Matrix1 a, Matrix1 b) {
- if (a.magnitude != b.magnitude)
+ if (a.size != b.size)
throw new System.ArgumentException("Vectors must be of the same length.");
float result = 0.0f;
- for (int i = 0; i < a.magnitude; i++) {
+ for (int i = 0; i < a.size; i++) {
result += a.data[i] * b.data[i];
}
return result;
}
public static Matrix1 operator *(Matrix1 A, float f) {
- float[] result = new float[A.magnitude];
+ float[] result = new float[A.size];
- for (int i = 0; i < A.magnitude; i++)
+ for (int i = 0; i < A.size; i++)
result[i] += A.data[i] * f;
return new Matrix1(result);
@@ -329,197 +523,20 @@ public class Matrix1 {
public Matrix1 Slice(Slice range) {
return Slice(range.start, range.stop);
}
- public Matrix1 Slice(int from, int to) {
- if (from < 0 || to >= this.magnitude)
+ public Matrix1 Slice(uint from, uint to) {
+ if (from < 0 || to >= this.size)
throw new System.ArgumentException("Slice index out of range.");
float[] result = new float[to - from];
int resultIx = 0;
- for (int ix = from; ix < to; ix++)
+ for (uint ix = from; ix < to; ix++)
result[resultIx++] = this.data[ix];
return new Matrix1(result);
}
public void UpdateSlice(Slice slice, Matrix1 v) {
int vIx = 0;
- for (int ix = slice.start; ix < slice.stop; ix++, vIx++)
+ for (uint ix = slice.start; ix < slice.stop; ix++, vIx++)
this.data[ix] = v.data[vIx];
}
-}
-
-// public class Matrix {
-// private readonly uint rows = 0;
-// private readonly uint cols = 0;
-// private float[] data;
-
-// public Matrix(uint rows, uint cols) {
-// this.rows = rows;
-// this.cols = cols;
-// }
-
-// public static float[,] Diagonal(float[] v) {
-// float[,] r = new float[v.Length, v.Length];
-// for (int i = 0; i < v.Length; i++) {
-// r[i, i] = v[i];
-// }
-// return r;
-// }
-
-// public static float[,] Transpose(float[,] m) {
-// int rows = m.GetLength(0);
-// int cols = m.GetLength(1);
-// float[,] r = new float[cols, rows];
-// for (uint rowIx = 0; rowIx < rows; rowIx++) {
-// for (uint colIx = 0; colIx < cols; colIx++)
-// r[colIx, rowIx] = m[rowIx, colIx];
-// }
-// return r;
-// // double checked code
-// }
-
-// public static void NegateColumn(float[,] m, uint colIx) {
-// for (uint rowIx = 0; rowIx < m.GetLength(0); rowIx++) {
-// m[rowIx, colIx] = -m[rowIx, colIx];
-// }
-// }
-
-// public static float Determinant(float[,] matrix) {
-// int n = matrix.GetLength(0);
-// if (n != matrix.GetLength(1))
-// throw new System.ArgumentException("Matrix must be square.");
-
-// if (n == 1)
-// return matrix[0, 0]; // Base case for 1x1 matrix
-
-// if (n == 2) // Base case for 2x2 matrix
-// return matrix[0, 0] * matrix[1, 1] - matrix[0, 1] * matrix[1, 0];
-
-// float det = 0;
-// for (int col = 0; col < n; col++)
-// det += (col % 2 == 0 ? 1 : -1) * matrix[0, col] * Determinant(Minor(matrix, 0, col));
-
-// return det;
-// }
-
-// // Helper function to compute the minor of a matrix
-// private static float[,] Minor(float[,] matrix, int rowToRemove, int colToRemove) {
-// int n = matrix.GetLength(0);
-// float[,] minor = new float[n - 1, n - 1];
-
-// int r = 0, c = 0;
-// for (int i = 0; i < n; i++) {
-// if (i == rowToRemove) continue;
-
-// c = 0;
-// for (int j = 0; j < n; j++) {
-// if (j == colToRemove) continue;
-
-// minor[r, c] = matrix[i, j];
-// c++;
-// }
-// r++;
-// }
-
-// return minor;
-// }
-
-// public static float[,] MultiplyMatrices(float[,] A, float[,] B) {
-// int rowsA = A.GetLength(0);
-// int colsA = A.GetLength(1);
-// int rowsB = B.GetLength(0);
-// int colsB = B.GetLength(1);
-
-// if (colsA != rowsB)
-// throw new System.ArgumentException("Number of columns in A must match number of rows in B.");
-
-// float[,] result = new float[rowsA, colsB];
-
-// for (int i = 0; i < rowsA; i++) {
-// for (int j = 0; j < colsB; j++) {
-// float sum = 0.0f;
-// for (int k = 0; k < colsA; k++)
-// sum += A[i, k] * B[k, j];
-
-// result[i, j] = sum;
-// }
-// }
-
-// return result;
-// // double checked code
-// }
-
-// public static float[] MultiplyMatrixVector(float[,] A, float[] v) {
-// int rows = A.GetLength(0);
-// int cols = A.GetLength(1);
-// float[] result = new float[rows];
-
-// for (int i = 0; i < rows; i++) {
-// for (int j = 0; j < cols; j++) {
-// result[i] += A[i, j] * v[j];
-// }
-// }
-
-// return result;
-// }
-
-// // Vector-matrix multiplication
-// public static Vector3Float MultiplyMatrixVector3(float[,] A, Vector3Float v) {
-// return new Vector3Float(
-// A[0, 0] * v.x + A[0, 1] * v.y + A[0, 2] * v.z,
-// A[1, 0] * v.x + A[1, 1] * v.y + A[1, 2] * v.z,
-// A[2, 0] * v.x + A[2, 1] * v.y + A[2, 2] * v.z
-// );
-// }
-
-// public static float[,] MultiplyMatrixScalar(float[,] A, float s) {
-// int rows = A.GetLength(0);
-// int cols = A.GetLength(1);
-// float[,] result = new float[rows, cols];
-
-// for (int i = 0; i < rows; i++) {
-// for (int j = 0; j < cols; j++) {
-// result[i, j] += A[i, j] * s;
-// }
-// }
-
-// return result;
-// }
-
-// public static float[] GetColumn(float[,] M, int col) {
-// int rows = M.GetLength(0);
-// float[] column = new float[rows];
-// for (int i = 0; i < rows; i++) {
-// column[i] = M[i, col];
-// }
-// return column;
-// }
-
-// public static Vector3Float GetRow3(float[,] M, int rowIx) {
-// int cols = M.GetLength(1);
-// Vector3Float row = new(
-// M[rowIx, 0],
-// M[rowIx, 1],
-// M[rowIx, 2]
-// );
-// return row;
-// }
-
-// public static void SetRow3(float[,] M, int rowIx, Vector3Float v) {
-// M[rowIx, 0] = v.x;
-// M[rowIx, 1] = v.y;
-// M[rowIx, 2] = v.z;
-// }
-
-// public static float Dot(float[] a, float[] b) {
-// float sum = 0;
-// for (int i = 0; i < a.Length; i++) sum += a[i] * b[i];
-// return sum;
-// }
-
-// public static float[,] IdentityMatrix(int size) {
-// float[,] I = new float[size, size];
-// for (int i = 0; i < size; i++) I[i, i] = 1.0f;
-// return I;
-// }
-
-// }
\ No newline at end of file
+}
\ No newline at end of file
diff --git a/LinearAlgebra/Quaternion.cs b/LinearAlgebra/Quaternion.cs
index 55ad014..b1146ed 100644
--- a/LinearAlgebra/Quaternion.cs
+++ b/LinearAlgebra/Quaternion.cs
@@ -1,3 +1,5 @@
+using System;
+using Quaternion = UnityEngine.Quaternion;
namespace Passer.LinearAlgebra {
public class QuaternionOf<T> {
@@ -13,19 +15,58 @@ namespace Passer.LinearAlgebra {
this.w = w;
}
- public static float[,] ToRotationMatrix(Quaternion q) {
+ public static Matrix2 ToRotationMatrix(Quaternion q) {
float w = q.x, x = q.y, y = q.z, z = q.w;
- return new float[,]
+ float[,] result = new float[,]
{
{ 1 - 2 * (y * y + z * z), 2 * (x * y - w * z), 2 * (x * z + w * y) },
{ 2 * (x * y + w * z), 1 - 2 * (x * x + z * z), 2 * (y * z - w * x) },
{ 2 * (x * z - w * y), 2 * (y * z + w * x), 1 - 2 * (x * x + y * y) }
};
+ return new Matrix2(result);
+ }
+
+ public static Quaternion FromRotationMatrix(Matrix2 m) {
+ float trace = m.data[0, 0] + m.data[1, 1] + m.data[2, 2];
+ float w, x, y, z;
+
+ if (trace > 0) {
+ float s = 0.5f / (float)Math.Sqrt(trace + 1.0f);
+ w = 0.25f / s;
+ x = (m.data[2, 1] - m.data[1, 2]) * s;
+ y = (m.data[0, 2] - m.data[2, 0]) * s;
+ z = (m.data[1, 0] - m.data[0, 1]) * s;
+ }
+ else {
+ if (m.data[0, 0] > m.data[1, 1] && m.data[0, 0] > m.data[2, 2]) {
+ float s = 2.0f * (float)Math.Sqrt(1.0f + m.data[0, 0] - m.data[1, 1] - m.data[2, 2]);
+ w = (m.data[2, 1] - m.data[1, 2]) / s;
+ x = 0.25f * s;
+ y = (m.data[0, 1] + m.data[1, 0]) / s;
+ z = (m.data[0, 2] + m.data[2, 0]) / s;
+ }
+ else if (m.data[1, 1] > m.data[2, 2]) {
+ float s = 2.0f * (float)Math.Sqrt(1.0f + m.data[1, 1] - m.data[0, 0] - m.data[2, 2]);
+ w = (m.data[0, 2] - m.data[2, 0]) / s;
+ x = (m.data[0, 1] + m.data[1, 0]) / s;
+ y = 0.25f * s;
+ z = (m.data[1, 2] + m.data[2, 1]) / s;
+ }
+ else {
+ float s = 2.0f * (float)Math.Sqrt(1.0f + m.data[2, 2] - m.data[0, 0] - m.data[1, 1]);
+ w = (m.data[1, 0] - m.data[0, 1]) / s;
+ x = (m.data[0, 2] + m.data[2, 0]) / s;
+ y = (m.data[1, 2] + m.data[2, 1]) / s;
+ z = 0.25f * s;
+ }
+ }
+
+ return new Quaternion(x, y, z, w);
}
}
- public class Quaternion : QuaternionOf<float> {
- public Quaternion(float x, float y, float z, float w) : base(x, y, z, w) { }
- }
+ // public class Quaternion : QuaternionOf<float> {
+ // public Quaternion(float x, float y, float z, float w) : base(x, y, z, w) { }
+ // }
}
\ No newline at end of file
diff --git a/Messages/BinaryMsg.cs b/Messages/BinaryMsg.cs
index fb5d76c..22a0b80 100644
--- a/Messages/BinaryMsg.cs
+++ b/Messages/BinaryMsg.cs
@@ -1,4 +1,4 @@
-namespace Passer.RoboidControl {
+namespace RoboidControl {
/// <summary>
/// A message containing binary data for custom communication
diff --git a/Messages/DestroyMsg.cs b/Messages/DestroyMsg.cs
index 660c142..1963bc3 100644
--- a/Messages/DestroyMsg.cs
+++ b/Messages/DestroyMsg.cs
@@ -1,4 +1,4 @@
-namespace Passer.RoboidControl {
+namespace RoboidControl {
/// <summary>
/// Message notifiying that a Thing no longer exists
diff --git a/Messages/InvestigateMsg.cs b/Messages/InvestigateMsg.cs
index d822fec..08d54d9 100644
--- a/Messages/InvestigateMsg.cs
+++ b/Messages/InvestigateMsg.cs
@@ -1,4 +1,4 @@
-namespace Passer.RoboidControl {
+namespace RoboidControl {
/// <summary>
/// Message to request details for a Thing
diff --git a/Messages/LowLevelMessages.cs b/Messages/LowLevelMessages.cs
index 2a067ea..01a579d 100644
--- a/Messages/LowLevelMessages.cs
+++ b/Messages/LowLevelMessages.cs
@@ -1,6 +1,6 @@
using Passer.LinearAlgebra;
-namespace Passer.RoboidControl
+namespace RoboidControl
{
public class LowLevelMessages
{
diff --git a/Messages/Messages.cs b/Messages/Messages.cs
index d75e62b..2fa0045 100644
--- a/Messages/Messages.cs
+++ b/Messages/Messages.cs
@@ -1,4 +1,4 @@
-namespace Passer.RoboidControl {
+namespace RoboidControl {
/// <summary>
/// Root structure for all communcation messages
diff --git a/Messages/ModelUrlMsg.cs b/Messages/ModelUrlMsg.cs
index 01b6527..be15087 100644
--- a/Messages/ModelUrlMsg.cs
+++ b/Messages/ModelUrlMsg.cs
@@ -1,4 +1,4 @@
-namespace Passer.RoboidControl {
+namespace RoboidControl {
/// <summary>
/// Message for communicating the URL for a model of the thing
diff --git a/Messages/NameMsg.cs b/Messages/NameMsg.cs
index 57de3aa..632540f 100644
--- a/Messages/NameMsg.cs
+++ b/Messages/NameMsg.cs
@@ -1,4 +1,4 @@
-namespace Passer.RoboidControl {
+namespace RoboidControl {
/// <summary>
/// Message for communicating the name of a thing
diff --git a/Messages/NetworkIdMsg.cs b/Messages/NetworkIdMsg.cs
index fc095d0..8d81e27 100644
--- a/Messages/NetworkIdMsg.cs
+++ b/Messages/NetworkIdMsg.cs
@@ -1,4 +1,4 @@
-namespace Passer.RoboidControl {
+namespace RoboidControl {
/// <summary>
/// A message communicating the network ID for that participant
diff --git a/Messages/ParticipantMsg.cs b/Messages/ParticipantMsg.cs
index 6ba3228..6af8fdb 100644
--- a/Messages/ParticipantMsg.cs
+++ b/Messages/ParticipantMsg.cs
@@ -1,4 +1,4 @@
-namespace Passer.RoboidControl {
+namespace RoboidControl {
/// <summary>
/// A participant messages notifies other participants of its presence
diff --git a/Messages/PoseMsg.cs b/Messages/PoseMsg.cs
index 4f1320d..5edd583 100644
--- a/Messages/PoseMsg.cs
+++ b/Messages/PoseMsg.cs
@@ -1,6 +1,6 @@
using Passer.LinearAlgebra;
-namespace Passer.RoboidControl {
+namespace RoboidControl {
/// <summary>
/// Message to communicate the pose of the thing
diff --git a/Messages/TextMsg.cs b/Messages/TextMsg.cs
index c2dcf16..a1de990 100644
--- a/Messages/TextMsg.cs
+++ b/Messages/TextMsg.cs
@@ -1,4 +1,4 @@
-namespace Passer.RoboidControl {
+namespace RoboidControl {
/// <summary>
/// Message for sending generic text
diff --git a/Messages/ThingMsg.cs b/Messages/ThingMsg.cs
index e83827d..9725e23 100644
--- a/Messages/ThingMsg.cs
+++ b/Messages/ThingMsg.cs
@@ -1,4 +1,4 @@
-namespace Passer.RoboidControl {
+namespace RoboidControl {
/// <summary>
/// Message providing generic information about a Thing
diff --git a/Participant.cs b/Participant.cs
index 286cf78..635f538 100644
--- a/Participant.cs
+++ b/Participant.cs
@@ -4,7 +4,7 @@ using System.Collections.Concurrent;
using System.Net;
using System.Net.Sockets;
-namespace Passer.RoboidControl {
+namespace RoboidControl {
/// <summary>
/// A participant is used for communcation between things
@@ -303,7 +303,10 @@ namespace Passer.RoboidControl {
}
protected virtual void Process(RemoteParticipant sender, ModelUrlMsg msg) {
- Console.WriteLine($"Participant: Process model [{msg.networkId}/{msg.thingId}] {msg.url}");
+ //Console.WriteLine($"Participant: Process model [{msg.networkId}/{msg.thingId}] {msg.url}");
+ Thing thing = sender.Get(msg.networkId, msg.thingId);
+ if (thing != null)
+ thing.modelUrl = msg.url;
Thing thing = sender.Get(msg.networkId, msg.thingId);
if (thing != null)
thing.modelUrl = msg.url;
diff --git a/RemoteParticipant.cs b/RemoteParticipant.cs
index 64b9fb4..ee5a0b9 100644
--- a/RemoteParticipant.cs
+++ b/RemoteParticipant.cs
@@ -1,7 +1,7 @@
using System;
using System.Collections.Generic;
-namespace Passer.RoboidControl {
+namespace RoboidControl {
/// <summary>
/// A reference to a participant, possibly on a remote location
diff --git a/Sensors/DistanceSensor.cs b/Sensors/DistanceSensor.cs
index 3967ae5..ade3998 100644
--- a/Sensors/DistanceSensor.cs
+++ b/Sensors/DistanceSensor.cs
@@ -1,4 +1,4 @@
-namespace Passer.RoboidControl {
+namespace RoboidControl {
/// <summary>
/// A sensor measuring the distance in the forward direction
diff --git a/Sensors/TemperatureSensor.cs b/Sensors/TemperatureSensor.cs
index edb9750..b0d6860 100644
--- a/Sensors/TemperatureSensor.cs
+++ b/Sensors/TemperatureSensor.cs
@@ -1,6 +1,6 @@
//using System;
-namespace Passer.RoboidControl {
+namespace RoboidControl {
/// <summary>
/// A temperature sensor
diff --git a/Sensors/TouchSensor.cs b/Sensors/TouchSensor.cs
index 6ea7f77..a55ad57 100644
--- a/Sensors/TouchSensor.cs
+++ b/Sensors/TouchSensor.cs
@@ -1,4 +1,4 @@
-namespace Passer.RoboidControl {
+namespace RoboidControl {
/// <summary>
/// A sensor which can detect touches
diff --git a/SiteServer.cs b/SiteServer.cs
index 9bd1ae9..178dceb 100644
--- a/SiteServer.cs
+++ b/SiteServer.cs
@@ -2,7 +2,7 @@ using System;
using System.Net;
using System.Net.Sockets;
-namespace Passer.RoboidControl {
+namespace RoboidControl {
/// <summary>
/// A site server is a participant which provides a shared simulated environment
@@ -52,7 +52,7 @@ namespace Passer.RoboidControl {
protected override void Process(RemoteParticipant sender, NetworkIdMsg msg) { }
protected override void Process(RemoteParticipant sender, ThingMsg msg) {
- Console.WriteLine($"SiteServer: Process thing [{msg.networkId}/{msg.thingId}]");
+ // Console.WriteLine($"SiteServer: Process thing [{msg.networkId}/{msg.thingId}]");
Thing thing = sender.Get(msg.networkId, msg.thingId);
if (thing == null) {
Thing newThing = null;
@@ -63,7 +63,7 @@ namespace Passer.RoboidControl {
}
if (newThing == null) {
newThing = new Thing(sender, msg.networkId, msg.thingId, msg.thingType);
- Console.WriteLine("Created generic new core thing");
+ // Console.WriteLine("Created generic new core thing");
}
if (msg.parentId != 0) {
Thing parentThing = Get(msg.networkId, msg.parentId);
diff --git a/Thing.cs b/Thing.cs
index 92d929d..29fa7c4 100644
--- a/Thing.cs
+++ b/Thing.cs
@@ -2,7 +2,7 @@ using System;
using System.Collections.Generic;
using Passer.LinearAlgebra;
-namespace Passer.RoboidControl {
+namespace RoboidControl {
/// <summary>
/// A thing is the primitive building block
diff --git a/Unity/DebugConsole.cs b/Unity/DebugConsole.cs
index 5b4e4f6..70b587a 100644
--- a/Unity/DebugConsole.cs
+++ b/Unity/DebugConsole.cs
@@ -3,7 +3,7 @@ using System.IO;
using System.Text;
using UnityEngine;
-namespace Passer.RoboidControl.Unity {
+namespace RoboidControl.Unity {
public class UnityLogWriter : TextWriter {
public override void Write(char value) {
diff --git a/Unity/DistanceSensor.cs b/Unity/DistanceSensor.cs
index f8cc98a..e27e2f7 100644
--- a/Unity/DistanceSensor.cs
+++ b/Unity/DistanceSensor.cs
@@ -2,7 +2,7 @@
using System.Collections;
using UnityEngine;
-namespace Passer.RoboidControl.Unity {
+namespace RoboidControl.Unity {
/// <summary>
/// The Unity representation of a distance sensor
diff --git a/Unity/SiteServer.cs b/Unity/SiteServer.cs
index ce665de..ee17799 100644
--- a/Unity/SiteServer.cs
+++ b/Unity/SiteServer.cs
@@ -3,7 +3,7 @@ using System;
using System.Collections.Generic;
using UnityEngine;
-namespace Passer.RoboidControl.Unity {
+namespace RoboidControl.Unity {
public class SiteServer : MonoBehaviour {
public RoboidControl.SiteServer site;
diff --git a/Unity/Thing.cs b/Unity/Thing.cs
index 8515edb..d58c40c 100644
--- a/Unity/Thing.cs
+++ b/Unity/Thing.cs
@@ -3,7 +3,7 @@ using System.Collections;
using UnityEngine;
using UnityEngine.Networking;
-namespace Passer.RoboidControl.Unity {
+namespace RoboidControl.Unity {
/// <summary>
/// The representation of a Thing in Unity
@@ -35,7 +35,7 @@ namespace Passer.RoboidControl.Unity {
}
public static Thing Create(RoboidControl.Thing core) {
- Debug.Log("Creating new Unity thing");
+ // Debug.Log("Creating new Unity thing");
GameObject gameObj = string.IsNullOrEmpty(core.name) ?
new("Thing") :
new(core.name);
diff --git a/Unity/TouchSensor.cs b/Unity/TouchSensor.cs
index 62f6b51..6e6ce44 100644
--- a/Unity/TouchSensor.cs
+++ b/Unity/TouchSensor.cs
@@ -1,7 +1,7 @@
#if UNITY_5_3_OR_NEWER
using UnityEngine;
-namespace Passer.RoboidControl.Unity {
+namespace RoboidControl.Unity {
/// <summary>
/// The Unity representation of the TouchSensor