RoboidControl/RoboidControl-csharp
RoboidControl/RoboidControl-csharp
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Removed dependecies on UnityEngine

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This commit is contained in:
Pascal Serrarens 2025-03-07 12:23:15 +01:00
parent 78d0e179df
commit f1a550e7f3
3 changed files with 15 additions and 4 deletions
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9
LinearAlgebra/Matrix.cs
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@ -4,8 +4,8 @@ using Passer.LinearAlgebra;
#if UNITY_5_3_OR_NEWER #if UNITY_5_3_OR_NEWER
using Vector3Float = UnityEngine.Vector3; using Vector3Float = UnityEngine.Vector3;
using Vector2Float = UnityEngine.Vector2; using Vector2Float = UnityEngine.Vector2;
#endif
using Quaternion = UnityEngine.Quaternion; using Quaternion = UnityEngine.Quaternion;
#endif
public readonly struct Slice { public readonly struct Slice {
public uint start { get; } public uint start { get; }
@ -91,6 +91,7 @@ public class Matrix2 {
return new Matrix2(result); return new Matrix2(result);
} }
#if UNITY_5_3_OR_NEWER
public Vector3Float GetRow3(int rowIx) { public Vector3Float GetRow3(int rowIx) {
uint cols = this.nCols; uint cols = this.nCols;
Vector3Float row = new() { Vector3Float row = new() {
@ -100,6 +101,7 @@ public class Matrix2 {
}; };
return row; return row;
} }
#endif
public void SetRow(int rowIx, Matrix1 v) { public void SetRow(int rowIx, Matrix1 v) {
for (uint ix = 0; ix < v.size; ix++) for (uint ix = 0; ix < v.size; ix++)
this.data[rowIx, ix] = v.data[ix]; this.data[rowIx, ix] = v.data[ix];
@ -430,6 +432,7 @@ public class Matrix1 {
return new Matrix1(result); return new Matrix1(result);
} }
#if UNITY_5_3_OR_NEWER
public static Matrix1 FromQuaternion(Quaternion q) { public static Matrix1 FromQuaternion(Quaternion q) {
float[] result = new float[4]; float[] result = new float[4];
result[0] = q.x; result[0] = q.x;
@ -438,6 +441,7 @@ public class Matrix1 {
result[3] = q.w; result[3] = q.w;
return new Matrix1(result); return new Matrix1(result);
} }
#endif
public Vector2Float vector2 { public Vector2Float vector2 {
get { get {
@ -453,6 +457,8 @@ public class Matrix1 {
return new Vector3Float(this.data[0], this.data[1], this.data[2]); return new Vector3Float(this.data[0], this.data[1], this.data[2]);
} }
} }
#if UNITY_5_3_OR_NEWER
public Quaternion quaternion { public Quaternion quaternion {
get { get {
if (this.size != 4) if (this.size != 4)
@ -460,6 +466,7 @@ public class Matrix1 {
return new Quaternion(this.data[0], this.data[1], this.data[2], this.data[3]); return new Quaternion(this.data[0], this.data[1], this.data[2], this.data[3]);
} }
} }
#endif
public Matrix1 Clone() { public Matrix1 Clone() {
float[] data = new float[this.size]; float[] data = new float[this.size];

4
LinearAlgebra/Quaternion.cs
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@ -1,5 +1,7 @@
using System; using System;
#if UNITY_5_3_OR_NEWER
using Quaternion = UnityEngine.Quaternion; using Quaternion = UnityEngine.Quaternion;
#endif
namespace Passer.LinearAlgebra { namespace Passer.LinearAlgebra {
public class QuaternionOf<T> { public class QuaternionOf<T> {
@ -15,6 +17,7 @@ namespace Passer.LinearAlgebra {
this.w = w; this.w = w;
} }
#if UNITY_5_3_OR_NEWER
public static Matrix2 ToRotationMatrix(Quaternion q) { public static Matrix2 ToRotationMatrix(Quaternion q) {
float w = q.x, x = q.y, y = q.z, z = q.w; float w = q.x, x = q.y, y = q.z, z = q.w;
@ -64,6 +67,7 @@ namespace Passer.LinearAlgebra {
return new Quaternion(x, y, z, w); return new Quaternion(x, y, z, w);
} }
#endif
} }
// public class Quaternion : QuaternionOf<float> { // public class Quaternion : QuaternionOf<float> {

6
test/UnitTest1.cs
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@ -3,7 +3,7 @@ using System;
using System.Threading; using System.Threading;
using NUnit.Framework; using NUnit.Framework;
using Passer.RoboidControl; using RoboidControl;
namespace ControlCore.test { namespace ControlCore.test {
public class Tests { public class Tests {
@ -29,7 +29,7 @@ namespace ControlCore.test {
[Test] [Test]
public void Test_SiteServer() { public void Test_SiteServer() {
SiteServer siteServer = new SiteServer(7681); SiteServer siteServer = new SiteServer(7681);
ulong milliseconds = (ulong)DateTimeOffset.UtcNow.ToUnixTimeMilliseconds(); ulong milliseconds = (ulong)DateTimeOffset.UtcNow.ToUnixTimeMilliseconds();
ulong startTime = milliseconds; ulong startTime = milliseconds;
@ -63,7 +63,7 @@ namespace ControlCore.test {
[Test] [Test]
public void Test_ThingMsg() { public void Test_ThingMsg() {
SiteServer siteServer = new SiteServer(); SiteServer siteServer = new SiteServer(7681);
Participant participant = new Participant("127.0.0.1"); Participant participant = new Participant("127.0.0.1");
Thing thing = new Thing(participant) { Thing thing = new Thing(participant) {
name = "First Thing", name = "First Thing",