From 67cf8b31fb9c6d4ec4c053da39ea1162f0e066f8 Mon Sep 17 00:00:00 2001 From: Pascal Serrarens Date: Thu, 17 Apr 2025 09:33:17 +0200 Subject: [PATCH] Fixes --- LinearAlgebra/src/Direction.cs | 4 ---- LinearAlgebra/src/Matrix.cs | 2 -- LinearAlgebra/src/Quaternion.cs | 3 +-- LinearAlgebra/src/SwingTwist.cs | 2 -- src/Messages/LowLevelMessages.cs | 2 +- test/UnitTest1.cs | 6 +++--- 6 files changed, 5 insertions(+), 14 deletions(-) diff --git a/LinearAlgebra/src/Direction.cs b/LinearAlgebra/src/Direction.cs index f479744..6039bd5 100644 --- a/LinearAlgebra/src/Direction.cs +++ b/LinearAlgebra/src/Direction.cs @@ -6,10 +6,6 @@ using Vector3Float = UnityEngine.Vector3; namespace LinearAlgebra { - public class Direction - { -namespace LinearAlgebra { - /// /// A direction in 3D space /// diff --git a/LinearAlgebra/src/Matrix.cs b/LinearAlgebra/src/Matrix.cs index b50eb16..5196d48 100644 --- a/LinearAlgebra/src/Matrix.cs +++ b/LinearAlgebra/src/Matrix.cs @@ -84,8 +84,6 @@ namespace LinearAlgebra { 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); public void FillDiagonal(float f) { int n = Math.Min(this.nRows, this.nCols); diff --git a/LinearAlgebra/src/Quaternion.cs b/LinearAlgebra/src/Quaternion.cs index cd7e9f4..52dd26b 100644 --- a/LinearAlgebra/src/Quaternion.cs +++ b/LinearAlgebra/src/Quaternion.cs @@ -18,12 +18,11 @@ namespace LinearAlgebra { this.w = w; } +#if UNITY_5_3_OR_NEWER public static Quaternion Reflect(Quaternion q) { return new(-q.x, -q.y, -q.z, q.w); } - -#if UNITY_5_3_OR_NEWER public static Matrix2 ToRotationMatrix(Quaternion q) { float w = q.x, x = q.y, y = q.z, z = q.w; diff --git a/LinearAlgebra/src/SwingTwist.cs b/LinearAlgebra/src/SwingTwist.cs index fe9a1b6..22eb0bb 100644 --- a/LinearAlgebra/src/SwingTwist.cs +++ b/LinearAlgebra/src/SwingTwist.cs @@ -3,8 +3,6 @@ using System.Numerics; using Quaternion = UnityEngine.Quaternion; #endif -namespace LinearAlgebra -{ namespace LinearAlgebra { public class SwingTwist { diff --git a/src/Messages/LowLevelMessages.cs b/src/Messages/LowLevelMessages.cs index 39da789..8b2d240 100644 --- a/src/Messages/LowLevelMessages.cs +++ b/src/Messages/LowLevelMessages.cs @@ -13,7 +13,7 @@ namespace RoboidControl { float distance = ReceiveFloat16(data, ref ix); float horizontal = ReceiveAngle8(data, ref ix); float vertical = ReceiveAngle8(data, ref ix); - Spherical v = new Spherical(distance, horizontal, vertical); + Spherical v = Spherical.Degrees(distance, horizontal, vertical); return v; } diff --git a/test/UnitTest1.cs b/test/UnitTest1.cs index c8c129e..e3c41b4 100644 --- a/test/UnitTest1.cs +++ b/test/UnitTest1.cs @@ -13,7 +13,7 @@ namespace RoboidControl.test { [Test] public void Test_Participant() { - LocalParticipant participant = new LocalParticipant("127.0.0.1", 7682); + ParticipantUDP participant = new ParticipantUDP("127.0.0.1", 7682); ulong milliseconds = (ulong)DateTimeOffset.UtcNow.ToUnixTimeMilliseconds(); ulong startTime = milliseconds; @@ -46,7 +46,7 @@ namespace RoboidControl.test { [Test] public void Test_SiteParticipant() { SiteServer siteServer = new SiteServer(7681); - LocalParticipant participant = new LocalParticipant("127.0.0.1", 7681); + ParticipantUDP participant = new ParticipantUDP("127.0.0.1", 7681); ulong milliseconds = (ulong)DateTimeOffset.UtcNow.ToUnixTimeMilliseconds(); ulong startTime = milliseconds; @@ -64,7 +64,7 @@ namespace RoboidControl.test { [Test] public void Test_ThingMsg() { SiteServer siteServer = new SiteServer(7681); - LocalParticipant participant = new LocalParticipant("127.0.0.1"); + ParticipantUDP participant = new ParticipantUDP("127.0.0.1"); Thing thing = new Thing(participant) { name = "First Thing", modelUrl = "https://passer.life/extras/ant.jpg"