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Fix fleet in-place rotate sync

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This commit is contained in:
ruifeng.zhou
2026-07-02 14:38:00 +08:00
parent d4d2b1a052
commit bf83bdb4b3
5 changed files with 367 additions and 39 deletions
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MultiWheel/MultiWheelC/VehicleSyncBinaryCodec.cs
+24
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@@ -55,6 +55,16 @@ internal static class VehicleSyncBinaryCodec
writer.Write(notification.SyncTh);
writer.Write(notification.SyncDistance);
writer.Write(notification.DeltaDetectCenter);
writer.Write(notification.RotateActiveOmega);
writer.Write(notification.RotateCompXyFac);
writer.Write(notification.RotateCompXyIFac);
writer.Write(notification.RotateCompXyMax);
writer.Write(notification.RotateCompThFac);
writer.Write(notification.RotateCompThIFac);
writer.Write(notification.RotateCompThMax);
writer.Write(notification.RotateCompTangentFrac);
writer.Write(notification.RotateStartWheelAlignDeg);
writer.Write(notification.RotateActiveWheelAlignDeg);
writer.Write(notification.IdealX);
writer.Write(notification.IdealY);
writer.Write(notification.IdealTh);
@@ -99,6 +109,16 @@ internal static class VehicleSyncBinaryCodec
notification.SyncTh = reader.ReadSingle();
notification.SyncDistance = reader.ReadSingle();
notification.DeltaDetectCenter = reader.ReadSingle();
notification.RotateActiveOmega = reader.ReadSingle();
notification.RotateCompXyFac = reader.ReadSingle();
notification.RotateCompXyIFac = reader.ReadSingle();
notification.RotateCompXyMax = reader.ReadSingle();
notification.RotateCompThFac = reader.ReadSingle();
notification.RotateCompThIFac = reader.ReadSingle();
notification.RotateCompThMax = reader.ReadSingle();
notification.RotateCompTangentFrac = reader.ReadSingle();
notification.RotateStartWheelAlignDeg = reader.ReadSingle();
notification.RotateActiveWheelAlignDeg = reader.ReadSingle();
notification.IdealX = reader.ReadSingle();
notification.IdealY = reader.ReadSingle();
notification.IdealTh = reader.ReadSingle();
@@ -209,6 +229,8 @@ internal static class VehicleSyncBinaryCodec
if (notification.AutoEnabled) flags |= 1 << 4;
if (notification.ManualEnabled) flags |= 1 << 5;
if (notification.HasIdeal) flags |= 1 << 6;
if (notification.RotateParamsValid) flags |= 1 << 7;
if (notification.UseDetourCorrection) flags |= 1 << 8;
return flags;
}
@@ -221,6 +243,8 @@ internal static class VehicleSyncBinaryCodec
notification.AutoEnabled = (flags & (1 << 4)) != 0;
notification.ManualEnabled = (flags & (1 << 5)) != 0;
notification.HasIdeal = (flags & (1 << 6)) != 0;
notification.RotateParamsValid = (flags & (1 << 7)) != 0;
notification.UseDetourCorrection = (flags & (1 << 8)) != 0;
}
private static void WriteString(BinaryWriter writer, string value)