RoboidControl/RoboidControl-csharp
RoboidControl/RoboidControl-csharp
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This commit is contained in:
Pascal Serrarens 2024-12-17 12:11:02 +01:00
parent 9b44918eaf
commit ae6f9fa395
1 changed files with 15 additions and 7 deletions
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22
Messages.cs
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@ -16,7 +16,7 @@ namespace Passer.Control
public virtual byte Serialize(ref byte[] buffer) { return 0; }
public virtual void Deserialize(byte[] buffer) { }
public bool Send(Participant client) {
public bool SendTo(Participant client) {
Serialize(ref client.buffer);
return client.SendBuffer();
}
@ -188,10 +188,10 @@ namespace Passer.Control
this.thingId = buffer[ix++];
}
public static bool Send(Participant client, CoreThing thing) {
InvestigateMsg msg = new(thing.networkId, thing.id);
return SendMsg(client, msg);
}
//public static bool Send(Participant client, CoreThing thing) {
// InvestigateMsg msg = new(thing.networkId, thing.id);
// return SendMsg(client, msg);
//}
public static async Task<bool> Receive(Stream dataStream, Participant client, byte packetSize)
{
if (packetSize != length)
@ -423,9 +423,13 @@ namespace Passer.Control
public byte poseType;
public const byte Pose_Position = 0x01;
public const byte Pose_Orientation = 0x02;
public const byte Pose_LinearVelocity = 0x04;
public const byte Pose_AngularVelocity = 0x08;
public Spherical position;
public Quat32 orientation;
public Spherical linearVelocity;
public Spherical angularVelocity;
public PoseMsg(byte networkId, byte thingId, Spherical position, Quat32 orientation)
{
@ -466,8 +470,12 @@ namespace Passer.Control
//if ((poseType & Pose_Position) != 0)
this.position = LowLevelMessages.ReceiveSpherical(buffer, ref ix);
//if ((poseType & Pose_Orientation) != 0) {
//if ((poseType & Pose_Orientation) != 0)
this.orientation = LowLevelMessages.ReceiveQuat32(buffer, ref ix);
if ((poseType & Pose_LinearVelocity) != 0) {
this.linearVelocity = LowLevelMessages.ReceiveSpherical(buffer, ref ix);
UnityEngine.Debug.Log($"Received linear velocity: {this.linearVelocity}");
}
}
public static bool Send(Participant client, byte thingId, Spherical position, Quat32 orientation)
@ -576,7 +584,7 @@ namespace Passer.Control
public class DestroyMsg : IMessage
{
public const byte Id = 0x20;
public const byte length = 2;
public const byte length = 3;
public byte networkId;
public byte thingId;