def set_drone_states(self, drones: List[Drone]):
drones[3].position = vec3(250, 250, 100)
drones[3].orientation = euler_to_rotation(vec3(0, math.pi / 2, 0))
drones[3].velocity = vec3(0, 3000, 0)
drones[3].angular_velocity = vec3(0, 0, 0)
drones[4].position = vec3(-250, 250, 100)
drones[4].orientation = euler_to_rotation(vec3(0, math.pi / 2, 0))
drones[4].velocity = vec3(0, 3000, 0)
drones[4].angular_velocity = vec3(0, 0, 0)
def set_drone_states(self, drones: List[Drone]):
drones[0].position = vec3(0, 0, 100)
drones[0].orientation = euler_to_rotation(vec3(0, math.pi / 2, 0))
drones[0].velocity = vec3(0, 0, 0)
drones[0].angular_velocity = vec3(0, 0, 0)
drones[1].position = vec3(-250, 4500, 100)
drones[1].orientation = euler_to_rotation(vec3(0, -math.pi / 2, 0))
drones[1].velocity = vec3(0, 0, 0)
drones[1].angular_velocity = vec3(0, 0, 0)
drones[2].position = vec3(250, 4500, 100)
drones[2].orientation = euler_to_rotation(vec3(0, -math.pi / 2, 0))
drones[2].velocity = vec3(0, 0, 0)
drones[2].angular_velocity = vec3(0, 0, 0)
for i in range(3, 7):
drones[i].position = vec3(0, -4500, 500)
def set_drone_states(self, drones: List[Drone]):
for i, drone in enumerate(drones):
drone.position = self.pos
drone.position[2] += i * self.height
drone.orientation = euler_to_rotation(vec3(0, math.pi / 2, 0))
drone.velocity = vec3(0, 0, 0)
drone.angular_velocity = vec3(0, 0, 0)
def set_drone_states(self, drones: List[Drone]):
for i, drone in enumerate(drones):
angle = (-1)**i * -math.pi / 2
x = -self.x_distance * (-1)**i
y = (self.y_distance + self.gap_offset * (i // 2)) * (-1)**i
drone.position = vec3(x, y, 20)
drone.orientation = euler_to_rotation(vec3(0, angle, 0))
drone.velocity = vec3(0, 0, 0)
drone.angular_velocity = vec3(0, 0, 0)
def set_drone_states(self, drones: List[Drone]):
for i, drone in enumerate(drones):
angle = (2 * math.pi / 64) * i
drone.position = vec3(dot(rotation(angle), vec2(self.radius, 0)))
drone.position[2] = self.height
drone.velocity = vec3(0, 0, 0)
drone.orientation = euler_to_rotation(
vec3(math.pi / 2, angle, math.pi))
drone.angular_velocity = vec3(0, 0, 0)
def set_drone_states(self, drones: List[Drone]):
s = int(math.sqrt(len(drones))) # Side length
for i, drone in enumerate(drones):
# Get grid pos.
x = (i // s) - (s - 1) / 2
y = (i % s) - (s - 1) / 2
drone.position = vec3(x * self.spacing, y * self.spacing,
800) # 800 is base height
drone.orientation = euler_to_rotation(vec3(math.pi / 2, 0, 0))
drone.velocity = vec3(0, 0, 100)
drone.angular_velocity = vec3(0, 0, 0)
def set_drone_states(self, drones: List[Drone]):
for i, drone in enumerate(drones):
if i in range(0, 16):
pos = vec3(-self.radius, -self.offset, 20)
angle = 0
elif i in range(16, 32):
pos = vec3(self.offset, -self.radius, 20)
angle = math.pi / 2
elif i in range(32, 48):
pos = vec3(self.radius, self.offset, 20)
angle = math.pi
elif i in range(48, 64):
pos = vec3(-self.offset, self.radius, 20)
angle = 3 * math.pi / 2
drone.position = pos
drone.position[2] += (i % 16) * self.height
drone.orientation = euler_to_rotation(vec3(0, angle, 0))
drone.velocity = vec3(0, 0, 0)
drone.angular_velocity = vec3(0, 0, 0)
def rotator_to_mat3(r: Rotator) -> mat3:
return euler_to_rotation(vec3(r.pitch, r.yaw, r.roll))
def rotationToOrientation(rotation):
return euler_to_rotation(vec3(rotation.pitch, rotation.yaw, rotation.roll))