RoboidControl/RoboidControl-csharp
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compare: RoboidControl:67cf8b31fb9c6d4ec4c053da39ea1162f0e066f8
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3 changed files with 26 additions and 29 deletions
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49
LinearAlgebra/src/Spherical.cs
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@ -1,7 +1,6 @@
using System;
#if UNITY_5_3_OR_NEWER
//using Vector3Float = UnityEngine.Vector3;
using Vector3 = UnityEngine.Vector3;
using Vector3Float = UnityEngine.Vector3;
#endif
namespace LinearAlgebra {
@ -67,16 +66,16 @@ namespace LinearAlgebra {
public readonly static Spherical forward = new(1, Direction.forward);
// public static Spherical FromVector3Float(Vector3Float v) {
// float distance = v.magnitude;
// if (distance == 0.0f)
// return Spherical.zero;
// else {
// float verticalAngle = (float)((Angle.pi / 2 - Math.Acos(v.y / distance)) * Angle.Rad2Deg);
// float horizontalAngle = (float)Math.Atan2(v.x, v.z) * Angle.Rad2Deg;
// return Spherical.Degrees(distance, horizontalAngle, verticalAngle);
// }
// }
public static Spherical FromVector3Float(Vector3Float v) {
float distance = v.magnitude;
if (distance == 0.0f)
return Spherical.zero;
else {
float verticalAngle = (float)((Angle.pi / 2 - Math.Acos(v.y / distance)) * Angle.Rad2Deg);
float horizontalAngle = (float)Math.Atan2(v.x, v.z) * Angle.Rad2Deg;
return Spherical.Degrees(distance, horizontalAngle, verticalAngle);
}
}
public static Spherical FromVector3(Vector3 v) {
float distance = v.magnitude;
@ -89,21 +88,21 @@ namespace LinearAlgebra {
}
}
// public Vector3Float ToVector3Float() {
// float verticalRad = (Angle.pi / 2) - this.direction.vertical * Angle.Deg2Rad;
// float horizontalRad = this.direction.horizontal * Angle.Deg2Rad;
// float cosVertical = (float)Math.Cos(verticalRad);
// float sinVertical = (float)Math.Sin(verticalRad);
// float cosHorizontal = (float)Math.Cos(horizontalRad);
// float sinHorizontal = (float)Math.Sin(horizontalRad);
public Vector3Float ToVector3Float() {
float verticalRad = (Angle.pi / 2) - this.direction.vertical * Angle.Deg2Rad;
float horizontalRad = this.direction.horizontal * Angle.Deg2Rad;
float cosVertical = (float)Math.Cos(verticalRad);
float sinVertical = (float)Math.Sin(verticalRad);
float cosHorizontal = (float)Math.Cos(horizontalRad);
float sinHorizontal = (float)Math.Sin(horizontalRad);
// float x = this.distance * sinVertical * sinHorizontal;
// float y = this.distance * cosVertical;
// float z = this.distance * sinVertical * cosHorizontal;
float x = this.distance * sinVertical * sinHorizontal;
float y = this.distance * cosVertical;
float z = this.distance * sinVertical * cosHorizontal;
// Vector3Float v = new(x, y, z);
// return v;
// }
Vector3Float v = new(x, y, z);
return v;
}
public Vector3 ToVector3() {
float verticalRad = (Angle.pi / 2) - this.direction.vertical * Angle.Deg2Rad;

4
LinearAlgebra/test/SphericalTest.cs
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@ -1,4 +1,3 @@
#if !UNITY_5_6_OR_NEWER
using NUnit.Framework;
namespace LinearAlgebra.Test {
@ -26,5 +25,4 @@ namespace LinearAlgebra.Test {
Assert.AreEqual(v1.distance, r.distance, "Addition(0,0,0)");
}
}
}
#endif
}

2
src/Things/TouchSensor.cs
View File

@ -24,7 +24,7 @@ namespace RoboidControl {
//thisParticipant = participant;
}
public TouchSensor(Thing parent, bool invokeEvent = true) : base(parent, (byte)Type.TouchSensor, invokeEvent) { }
public TouchSensor(Thing parent) : base(parent) { }
public ParticipantUDP thisParticipant;