Flash Game Development with Flex and Actionscript(No.6)

本文介绍了一个简单的游戏碰撞检测系统实现,使玩家能够与游戏中的敌人互动并射击它们。通过为游戏对象分配碰撞区域和名称,当两个对象相遇时,系统会触发相应的碰撞反应。

In part 5 we added some enemies and gave the player the ability to fire it weapons. In part 6 we will add collision detection to allow the player to actually shoot the enemies.

Collision detection is the ability to detect when two objects have collided, and then react appropriately. In part 5 we gave the player the ability to fire weapons at the oncoming enemies. The only problem was that these bullets just passed right through the enemies. In part 6 we will add the necessary code to implement collection detection, which will allow us to shoot the enemies down.

Collision detection is one of those seemingly simple concepts that can be incredibly difficult to implement. You will find entire books devoted to the topic of testing for intersections between 2D and 3D shapes. Fortunately for us our collision detection will be quite simple. Each object on the screen will have a rectangular area in which collisions will be detected (the "collision area"). For simplicity this area will be the same as the size of the underlying graphic that is used to display the sprite on the screen. Once these rectangles overlap we will detect a collision.

In order to get the best results these graphics should cropped as closely to the image that is to be displayed as possible. Below is an example of two images that could be used in the game. Both will display exactly the same way because the space around the plane is transparent. However the top image is more optimized for the collision detection system though because it is closely cropped to the actual image of the plane. The bottom image would appear to collide with other objects before it should because the collision detection system doesn't take any notice of the transparent border, and assumes that the entire area of the image will be used as the collision area.

 

 

So lets take a look at the changes that are needed in the GameObject class to implement collision detection.

 

 

GameObject.as

package

{

import flash.display.*;

import flash.events.*;

import flash.geom.*;

 

/*

The base class for all objects in the game.

*/

public class GameObject

{

// object position

public var position:Point = new Point(0, 0);

// higher zOrder objects are rendered on top of lower ones

public var zOrder:int = 0;

// the bitmap data to display

public var graphics:GraphicsResource = null;

// true if the object is active in the game

public var inuse:Boolean = false;

public var collisionArea:Rectangle;

public var collisionName:String = CollisionIdentifiers.NONE;

 

public function get CollisionArea():Rectangle

{

return new Rectangle(position.x, position.y, collisionArea.width, collisionArea.height);

}

 

public function GameObject()

{

 

}

 

public function startupGameObject(graphics:GraphicsResource, position:Point, z:int = 0):void

{

if (!inuse)

{

this.graphics = graphics;

this.zOrder = z;

this.position = position.clone();

this.inuse = true;

 

GameObjectManager.Instance.addGameObject(this);

 

setupCollision();

}

}

 

public function shutdown():void

{

if (inuse)

{

graphics = null;

inuse = false;

 

GameObjectManager.Instance.removeGameObject(this);

}

}

 

public function copyToBackBuffer(db:BitmapData):void

{

db.copyPixels(graphics.bitmap, graphics.bitmap.rect, position, graphics.bitmapAlpha, new Point(0, 0), true);

}

 

public function enterFrame(dt:Number):void

{

 

}

 

public function click(event:MouseEvent):void

{

 

}

 

public function mouseDown(event:MouseEvent):void

{

 

}

 

public function mouseUp(event:MouseEvent):void

{

 

}

 

public function mouseMove(event:MouseEvent):void

{

 

}

 

protected function setupCollision():void

{

collisionArea = graphics.bitmap.rect;

}

public function collision(other:GameObject):void

{

}

}

}

 

We have added two new properties: collisionArea, and collisionName. The collisionArea property represents a rectangle that defines the collision area described above. The collisionName property is a name assigned to a GameObject that defines what type of object it is, at least as far as the collision system will be concerned. For example a weapon fired by the player will have a collisionName of “PlayerWeapon”, while an enemy might have a collision name of “Enemy”. By default we set it to "None" through the CollisionIdentifiers.NONE property.

In addition we also have three new functions: collision, CollisionArea and setupCollision. The collision function is another empty function that is expected to be overridden by an extending class. It will be called by GameObjectManager when a collision has been detected. The setupCollision function is used to save the size of the graphic for use with the collision detection system. CollisionArea returns the collisionArea rectangle at the GameObjects current position on the screen.

You may be wondering why we bother having the collisionArea property at all considering it is exactly the same as graphics.bitmap.rect. This is because later on (in part 7) we will be adding animation to the game. The animation class will override the setupCollision function with its own specialised logic. For now though the collision area will be the same as the graphic rectangle.

 

CollisionIdentifiers.as

package

{

public class CollisionIdentifiers

{

public static const NONE:String = "None";

public static const PLAYER:String = "Player";

public static const PLAYERWEAPON:String = "PlayerWeapon";

public static const ENEMYWEAPON:String = "EnemyWeapon";

public static const ENEMY:String = "Enemy";

public static const POWERUP:String = "Powerup";

}

}

 

Like the ZOrders class, the CollisionIdentifiers class is used to hold a number of predefined static properties; in this case collision names. Again the purpose of this is to facilitate self documentation. CollisionIdentifiers.PLAYER is self explainatory, whereas the string "Player" doesn't have the same inherent meaning.

 

Lets now look at the changes made to the GameObjectManager class.


GameObjectManager.as

package

{

import flash.display.*;

import flash.events.*;

import flash.utils.*;

 

import mx.collections.*;

import mx.core.*;

 

public class GameObjectManager

{

// double buffer

public var backBuffer:BitmapData;

// colour to use to clear backbuffer with

public var clearColor:uint = 0xFF0043AB;

// static instance

protected static var instance:GameObjectManager = null;

// the last frame time

protected var lastFrame:Date;

// a collection of the GameObjects

protected var gameObjects:ArrayCollection = new ArrayCollection();

// a collection where new GameObjects are placed, to avoid adding items

// to gameObjects while in the gameObjects collection while it is in a loop

protected var newGameObjects:ArrayCollection = new ArrayCollection();

// a collection where removed GameObjects are placed, to avoid removing items

// to gameObjects while in the gameObjects collection while it is in a loop

protected var removedGameObjects:ArrayCollection = new ArrayCollection();

protected var collisionMap:Dictionary = new Dictionary();

 

static public function get Instance():GameObjectManager

{

if ( instance == null )

instance = new GameObjectManager();

return instance;

}

 

public function GameObjectManager()

{

if ( instance != null )

throw new Error( "Only one Singleton instance should be instantiated" );

 

backBuffer = new BitmapData(Application.application.width, Application.application.height, false);

}

 

public function startup():void

{

lastFrame = new Date();

}

 

public function shutdown():void

{

shutdownAll();

}

 

public function enterFrame():void

{

// Calculate the time since the last frame

var thisFrame:Date = new Date();

var seconds:Number = (thisFrame.getTime() - lastFrame.getTime())/1000.0;

lastFrame = thisFrame;

removeDeletedGameObjects();

insertNewGameObjects();

Level.Instance.enterFrame(seconds);

checkCollisions();

// now allow objects to update themselves

for each (var gameObject:GameObject in gameObjects)

{

if (gameObject.inuse)

gameObject.enterFrame(seconds);

}

drawObjects();

}

 

public function click(event:MouseEvent):void

{

for each (var gameObject:GameObject in gameObjects)

{

if (gameObject.inuse) gameObject.click(event);

}

}

 

public function mouseDown(event:MouseEvent):void

{

for each (var gameObject:GameObject in gameObjects)

{

if (gameObject.inuse) gameObject.mouseDown(event);

}

}

 

public function mouseUp(event:MouseEvent):void

{

for each (var gameObject:GameObject in gameObjects)

{

if (gameObject.inuse) gameObject.mouseUp(event);

}

}

 

public function mouseMove(event:MouseEvent):void

{

for each (var gameObject:GameObject in gameObjects)

{

if (gameObject.inuse) gameObject.mouseMove(event);

}

}

 

protected function drawObjects():void

{

backBuffer.fillRect(backBuffer.rect, clearColor);

 

// draw the objects

for each (var gameObject:GameObject in gameObjects)

{

if (gameObject.inuse)

gameObject.copyToBackBuffer(backBuffer);

}

}

 

public function addGameObject(gameObject:GameObject):void

{

newGameObjects.addItem(gameObject);

}

 

public function removeGameObject(gameObject:GameObject):void

{

removedGameObjects.addItem(gameObject);

}

 

protected function shutdownAll():void

{

// don't dispose objects twice

for each (var gameObject:GameObject in gameObjects)

{

var found:Boolean = false;

for each (var removedObject:GameObject in removedGameObjects)

{

if (removedObject == gameObject)

{

found = true;

break;

}

}

 

if (!found)

gameObject.shutdown();

}

}

 

protected function insertNewGameObjects():void

{

for each (var gameObject:GameObject in newGameObjects)

{

for (var i:int = 0; i < gameObjects.length; ++i)

{

if (gameObjects.getItemAt(i).zOrder > gameObject.zOrder ||

gameObjects.getItemAt(i).zOrder == -1)

break;

}

gameObjects.addItemAt(gameObject, i);

}

 

newGameObjects.removeAll();

}

 

protected function removeDeletedGameObjects():void

{

// insert the object acording to it's z position

for each (var removedObject:GameObject in removedGameObjects)

{

var i:int = 0;

for (i = 0; i < gameObjects.length; ++i)

{

if (gameObjects.getItemAt(i) == removedObject)

{

gameObjects.removeItemAt(i);

break;

}

}

 

}

 

removedGameObjects.removeAll();

}

 

public function addCollidingPair(collider1:String, collider2:String):void

{

if (collisionMap[collider1] == null)

collisionMap[collider1] = new Array();

if (collisionMap[collider2] == null)

collisionMap[collider2] = new Array();

collisionMap[collider1].push(collider2);

collisionMap[collider2].push(collider1);

}

 

protected function checkCollisions():void

{

for (var i:int = 0; i < gameObjects.length; ++i)

{

var gameObjectI:GameObject = gameObjects.getItemAt(i) as GameObject;

for (var j:int = i + 1; j < gameObjects.length; ++j)

{

var gameObjectJ:GameObject = gameObjects.getItemAt(j) as GameObject;

// early out for non-colliders

var collisionNameNotNothing:Boolean = gameObjectI.collisionName != CollisionIdentifiers.NONE;

// objects can still exist in the gameObjects collection after being disposed, so check

var bothInUse:Boolean = gameObjectI.inuse && gameObjectJ.inuse;

// make sure we have an entry in the collisionMap

var collisionMapEntryExists:Boolean = collisionMap[gameObjectI.collisionName] != null;

// make sure the two objects are set to collide

var testForCollision:Boolean = collisionMapEntryExists && collisionMap[gameObjectI.collisionName]. indexOf(gameObjectJ.collisionName) != -1

if ( collisionNameNotNothing &&

bothInUse &&

collisionMapEntryExists &&

testForCollision)

{

if (gameObjectI.CollisionArea. intersects(gameObjectJ.CollisionArea))

{

gameObjectI.collision(gameObjectJ);

gameObjectJ.collision(gameObjectI);

}

}

}

}

}

}

}

We have added one property to GameObjectManager: collisionMap. This is a dictionary where the key is the collision name of a GameObject, and the value is an array of the collision names of all the other GameObjects that it will collide with. Once populated it will look something like this:

Key: "Player" Value: {"Enemy", "EnemyWeapon", "Powerup"}

Key: "Enemy" Value: {"Player", "PlayerWeapon"}

Key: "PlayerWeapon" Value: {"Enemy"}

Key: "Powerup" Value: {"Player"}

and so on.

The addCollidingPair function is used to populate the collisionMap dictionary. We will call this from in the main.mxml file in the creationComplete function.

The checkCollision function is where the collisions are actually detected and the corresponding GameObjects notified. It looks complicated, but is quite simple.

It starts by looping through the gameObjects collection (which contains all the active GameObjects) twice, and is structured in such as way as to compare each GameObject to every other GameObject once. It then does a number of checks:

  • Is the collisionName of either GameObject "None"? Both GameObjects need a collisionName that is not "None" to participate in a collision.
  • Are both of the GameObjects inuse (i.e. are they active in the game). This should always be the case, but it doesn't hurt to check.
  • Are the collisionNames of the GameObjects registered as being colliders in the collisionMap? The purpose of the collisionMap is to determine which GameObject will collide.

If these few checks are true then we use the intersects function of a rectangle to see if the GameObjects are actually colliding. If they are then they are notified through their collision function.

As I mentioned earlier in the article collision detection is a subject that has entire books devoted to it. There are many clever ways to optimize a collision detection system which we have ignored. What we have here is a simple, brute force method of checking for collisions. It may not be a shining example of an opimized collision detection system, but it works because we will only have maybe two dozen GameObjects on the screen at any one point.

In order for any collisions to be detected at all we need to make a few calls to the addCollidingPair function. These will be made in the creationComplete function of our Application object. Lets look at those changes now.

 

main.mxml

<?xml version="1.0" encoding="utf-8"?>

<mx:Application

xmlns:mx="http://www.adobe.com/2006/mxml"

layout="absolute"

width="600"

height="400"

frameRate="100"

creationComplete="creationComplete()"

enterFrame="enterFrame(event)"

click="click(event)"

mouseDown="mouseDown(event)"

mouseUp="mouseUp(event)"

mouseMove="mouseMove(event)"

currentState="MainMenu">

<mx:states>

<mx:State

name="Game"

enterState="enterGame(event)"

exitState="exitGame(event)">

</mx:State>

<mx:State name="MainMenu">

<mx:AddChild relativeTo="{myCanvas}" position="lastChild">

<mx:Button x="525" y="368" label="Start" id="btnStart" click="startGameClicked(event)"/>

</mx:AddChild>

</mx:State>

</mx:states>

<mx:Canvas x="0" y="0" width="100%" height="100%" id="myCanvas"/>

<mx:Script>

<![CDATA[

protected var inGame:Boolean = false;

public function creationComplete():void

{

GameObjectManager.Instance. addCollidingPair(CollisionIdentifiers.PLAYER, CollisionIdentifiers.ENEMY);

GameObjectManager.Instance. addCollidingPair(CollisionIdentifiers.ENEMY, CollisionIdentifiers.PLAYERWEAPON);

GameObjectManager.Instance. addCollidingPair(CollisionIdentifiers.PLAYER, CollisionIdentifiers.ENEMYWEAPON);

}

public function enterFrame(event:Event):void

{

if (inGame)

{

GameObjectManager.Instance.enterFrame();

myCanvas.graphics.clear();

myCanvas.graphics. beginBitmapFill(GameObjectManager.Instance.backBuffer, null, false, false);

myCanvas.graphics.drawRect(0, 0, this.width, this.height);

myCanvas.graphics.endFill();

}

}

private function click(event:MouseEvent):void

{

GameObjectManager.Instance.click(event);

}

private function mouseDown(event:MouseEvent):void

{

GameObjectManager.Instance.mouseDown(event);

}

private function mouseUp(event:MouseEvent):void

{

GameObjectManager.Instance.mouseUp(event);

}

private function mouseMove(event:MouseEvent):void

{

GameObjectManager.Instance.mouseMove(event);

}

protected function startGameClicked(event:Event):void

{

currentState = "Game"

}

protected function enterGame(event:Event):void

{

Mouse.hide();

GameObjectManager.Instance.startup();

Level.Instance.startup();

inGame = true;

}

protected function exitGame(event:Event):void

{

Mouse.show();

Level.Instance.shutdown();

GameObjectManager.Instance.shutdown();

inGame = false;

}

]]>

</mx:Script>

</mx:Application>

 

As you can see specifying that two GameObjects will collide with each other only requires one call to the GameObjectManager addCollidingPair function. Here we have specified that the player will collide with an enemy, the enemies will collide with the players weapons, and that the player will collide with the enemies weapons.

So now that we have collisions being detected we need to update the code for the Player, Weapon and Enemy classes to set their collisionName and to react when a detection has been found. Lets look at the Player class now.

 

Player.as

package

{

import flash.events.*;

import flash.geom.*;

import mx.core.*;

public class Player extends GameObject

{

protected static const TimeBetweenShots:Number = 0.25;

protected var shooting:Boolean = false;

protected var timeToNextShot:Number = 0;

public function Player()

{

}

public function startupPlayer():void

{

startupGameObject(ResourceManager.BrownPlaneGraphics, new Point(Application.application.width / 2, Application.application.height / 2), ZOrders.PlayerZOrder);

shooting = false;

timeToNextShot = 0;

this.collisionName = CollisionIdentifiers.PLAYER;

}

override public function shutdown():void

{

super.shutdown();

}

override public function enterFrame(dt:Number):void

{

super.enterFrame(dt);

timeToNextShot -= dt;

if (timeToNextShot <= 0 && shooting)

{

timeToNextShot = TimeBetweenShots;

var weapon:Weapon = Weapon.pool.ItemFromPool as Weapon;

weapon.startupBasicWeapon(

ResourceManager.TwoBulletsGraphics,

new Point(

position.x + graphics.bitmap.width / 2 - ResourceManager.TwoBulletsGraphics.bitmap.width / 2,

position.y - graphics.bitmap.height + ResourceManager.TwoBulletsGraphics.bitmap.height * 2),

150,

true);

}

}

override public function mouseMove(event:MouseEvent):void

{

// move player to mouse position

position.x = event.stageX;

position.y = event.stageY;

// keep player on the screen

if (position.x < 0)

position.x = 0;

if (position.x > Application.application.width - graphics.bitmap.width)

position.x = Application.application.width - graphics.bitmap.width;

if (position.y < 0)

position.y = 0;

if (position.y > Application.application.height - graphics.bitmap.height )

position.y = Application.application.height - graphics.bitmap.height ;

}

override public function mouseDown(event:MouseEvent):void

{

shooting = true;

}

override public function mouseUp(event:MouseEvent):void

{

shooting = false;

}

override public function collision(other:GameObject):void

{

Level.Instance.levelEnd = true;

this.shutdown();

}

}

}

 

As you can see there are two modifications to the Player class to accomodate the new collision detection system. The first is during the startup function where we set the collisionName. The second is the addition of the collision function, which will be called by the GameObjectManager when a collision has been found. Here we notify the Level that the level should end by setting the levelEnd to true (because the player has been killed), and we call shutdown to remove the Player from the game.

The changes to the Enemy and Weapon classes are exactly the same except for modifying the Levels levelEnd property in the collision function. For the sake of brevity I won't show the Enemy or Weapons classes - you can download the source at the end of the article and check out the changes for yourself.

The final change we have to make is to the Level class. Lets look at that now.

 

Level.as

package

{

import flash.events.*;

import flash.geom.*;

import flash.media.*;

import flash.net.*;

import flash.utils.*;

 

import mx.collections.ArrayCollection;

import mx.core.*;

public class Level

{

protected static var instance:Level = null;

protected static const TimeBetweenLevelElements:Number = 2;

protected static const TimeBetweenEnemies:Number = 3;

protected static const TimeBetweenClouds:Number = 2.5;

protected static const TimeToLevelEnd:Number = 2;

protected var timeToNextLevelElement:Number = 0;

protected var levelElementGraphics:ArrayCollection = new ArrayCollection();

protected var timeToNextEnemy:Number = 0;

protected var enemyElementGraphics:ArrayCollection = new ArrayCollection();

protected var timeToNextCloud:Number = 0;

protected var timeToLevelEnd:Number = 0;

public var levelEnd:Boolean = false;

static public function get Instance():Level

{

if ( instance == null )

instance = new Level();

return instance;

}

public function Level(caller:Function = null )

{

if ( Level.instance != null )

throw new Error( "Only one Singleton instance should be instantiated" );

levelElementGraphics. addItem(ResourceManager.SmallIslandGraphics);

levelElementGraphics. addItem(ResourceManager.BigIslandGraphics);

levelElementGraphics. addItem(ResourceManager.VolcanoIslandGraphics);

enemyElementGraphics. addItem(ResourceManager.SmallBluePlaneGraphics);

enemyElementGraphics. addItem(ResourceManager.SmallGreenPlaneGraphics);

enemyElementGraphics. addItem(ResourceManager.SmallWhitePlaneGraphics);

}

 

public function startup():void

{

timeToNextLevelElement = 0;

new Player().startupPlayer();

timeToLevelEnd = TimeToLevelEnd;

levelEnd = false;

}

public function shutdown():void

{

}

public function enterFrame(dt:Number):void

{

// add a background element

timeToNextLevelElement -= dt;

if (timeToNextLevelElement <= 0)

{

timeToNextLevelElement = TimeBetweenLevelElements;

var graphics:GraphicsResource = levelElementGraphics.getItemAt(MathUtils.randomInteger(0, levelElementGraphics.length)) as GraphicsResource;

var backgroundLevelElement:BackgroundLevelElement = BackgroundLevelElement.pool.ItemFromPool as BackgroundLevelElement;

backgroundLevelElement.startupBackgroundLevelElement(

graphics,

new Point(Math.random() * Application.application.width, -graphics.bitmap.height),

ZOrders.BackgoundZOrder,

50);

}

// add an emeny

timeToNextEnemy -= dt;

if (timeToNextEnemy <= 0)

{

timeToNextEnemy = TimeBetweenEnemies;

var enemygraphics:GraphicsResource = enemyElementGraphics.getItemAt(MathUtils.randomInteger(0, enemyElementGraphics.length)) as GraphicsResource;

var enemy:Enemy = Enemy.pool.ItemFromPool as Enemy;

enemy.startupBasicEnemy(

enemygraphics,

new Point(Math.random() * Application.application.width, -enemygraphics.bitmap.height),

55);

}

// add cloud

timeToNextCloud -= dt;

if (timeToNextCloud <= dt)

{

timeToNextCloud = TimeBetweenClouds;

var cloudBackgroundLevelElement:BackgroundLevelElement = BackgroundLevelElement.pool.ItemFromPool as BackgroundLevelElement;

cloudBackgroundLevelElement. startupBackgroundLevelElement(

ResourceManager.CloudGraphics,

new Point(Math.random() * Application.application.width, -ResourceManager.CloudGraphics.bitmap.height),

ZOrders.CloudsBelowZOrder,

75);

}

if (levelEnd)

timeToLevelEnd -= dt;

if (timeToLevelEnd <= 0)

Application.application.currentState = "MainMenu";

}

}

}

 

The changes to the Level class simply allow it to be notified when the Player dies through the levelEnd property. When set to true a count down beings in enterFrame using the timeToLevelEnd property, and when timeToLevelEnd reaches 0 the state is changed back to MainMenu which drops us back to the main menu screen.

Collision detection is essential in any action game. In this article we have implemented a simple, but effective, collision detection system which allows the player to now interact with other elements in the game, like being able to shoot the enemies. Unfortunately at the moment actualy destroying an enemy is quite unsatisfying because they just disappear. In part 7 of the series we will add some animations to the game, and with that some nice explosions.


【事件触发一致性】研究多智能体网络如何通过分布式事件驱动控制实现有限时间内的共识(Matlab代码实现)内容概要:本文围绕多智能体网络中的事件触发一致性问题,研究如何通过分布式事件驱动控制实现有限时间内的共识,并提供了相应的Matlab代码实现方案。文中探讨了事件触发机制在降低通信负担、提升系统效率方面的优势,重点分析了多智能体系统在有限时间收敛的一致性控制策略,涉及系统模型构建、触发条件设计、稳定性与收敛性分析等核心技术环节。此外,文档还展示了该技术在航空航天、电力系统、机器人协同、无人机编队等多个前沿领域的潜在应用,体现了其跨学科的研究价值和工程实用性。; 适合人群:具备一定控制理论基础和Matlab编程能力的研究生、科研人员及从事自动化、智能系统、多智能体协同控制等相关领域的工程技术人员。; 使用场景及目标:①用于理解和实现多智能体系统在有限时间内达成一致的分布式控制方法;②为事件触发控制、分布式优化、协同控制等课题提供算法设计与仿真验证的技术参考;③支撑科研项目开发、学术论文复现及工程原型系统搭建; 阅读建议:建议结合文中提供的Matlab代码进行实践操作,重点关注事件触发条件的设计逻辑与系统收敛性证明之间的关系,同时可延伸至其他应用场景进行二次开发与性能优化。
【四旋翼无人机】具备螺旋桨倾斜机构的全驱动四旋翼无人机:建模与控制研究(Matlab代码、Simulink仿真实现)内容概要:本文围绕具备螺旋桨倾斜机构的全驱动四旋翼无人机展开,重点研究其动力学建模与控制系统设计。通过Matlab代码与Simulink仿真实现,详细阐述了该类无人机的运动学与动力学模型构建过程,分析了螺旋桨倾斜机构如何提升无人机的全向机动能力与姿态控制性能,并设计相应的控制策略以实现稳定飞行与精确轨迹跟踪。文中涵盖了从系统建模、控制器设计到仿真验证的完整流程,突出了全驱动结构相较于传统四旋翼在欠驱动问题上的优势。; 适合人群:具备一定控制理论基础和Matlab/Simulink使用经验的自动化、航空航天及相关专业的研究生、科研人员或无人机开发工程师。; 使用场景及目标:①学习全驱动四旋翼无人机的动力学建模方法;②掌握基于Matlab/Simulink的无人机控制系统设计与仿真技术;③深入理解螺旋桨倾斜机构对飞行性能的影响及其控制实现;④为相关课题研究或工程开发提供可复现的技术参考与代码支持。; 阅读建议:建议读者结合提供的Matlab代码与Simulink模型,逐步跟进文档中的建模与控制设计步骤,动手实践仿真过程,以加深对全驱动无人机控制原理的理解,并可根据实际需求对模型与控制器进行修改与优化。
在当代软件开发领域,Java与Python作为主流编程语言具有显著的技术价值。Java凭借其卓越的跨平台兼容性及严谨的面向对象体系,在商业系统构建中持续发挥核心作用;Python则依托其精炼的语法结构与高效的数据处理库,在机器学习、统计建模等前沿计算领域展现独特优势。 本项目文档系统整理了针对算法训练平台的编程实践内容,重点阐释了如何运用双语言范式解决计算问题。文档体系包含以下核心组成部分: 首先,对各类算法命题进行多维度解析,涵盖基础原理推演、时间复杂度量化比较、内存占用评估等关键技术指标。针对特定问题场景,文档会提供经过优化的数据结构选型方案,并论证不同架构对执行效能的潜在影响。 其次,每个算法案例均配备完整的双语言实现版本。Java实施方案注重类型安全与企业级规范,Python版本则突出代码简洁性与函数式特性。所有示例均包含详尽的执行注释,并附有运行时性能对比数据。 特别需要说明的是,文档中的时序编号体系反映了持续更新的内容组织结构,这种编排方式便于追踪不同阶段的算法实践演进。对于初级开发者,可通过对比两种语言的实现差异深化编程思维;对于资深工程师,则能从中获取系统优化的方法论参考。 在实践应用层面,本文档揭示了理论知识与工程落地的衔接路径:Java方案演示了如何通过合理的数据架构提升分布式系统吞吐量,Python案例则展示了数值计算中算法选择对处理效率的倍增效应。这种跨语言的技术对照,为学术研究与产业实践提供了可复用的设计范式。 通过系统化的算法实践,开发者能够建立完整的计算思维框架,掌握在不同业务场景下进行技术选型的决策依据,最终形成解决复杂工程问题的核心能力。 资源来源于网络分享,仅用于学习交流使用,请勿用于商业,如有侵权请联系我删除!
在Julia编程语言中,开发局部最优块预处理共轭梯度(LOBPCG)方法属于高阶数值代数应用范畴,主要针对大型稀疏对称正定矩阵的特征值计算需求。该算法作为共轭梯度法的改进形式,通过分块处理策略显著提升计算效率,特别适用于电磁场模拟、固体力学分析及量子化学建模等科学计算场景。 共轭梯度法的基本原理在于通过构造正交搜索方向序列迭代求解线性方程组Ax=b,其中系数矩阵需满足对称正定性条件。该方法在每轮迭代中维持解向量的正交特性,从而确保收敛速度的最优化。 LOBPCG算法的创新之处在于将原问题分解为多个低维子空间,并在各子空间内独立寻求局部最优解。其计算流程包含关键操作环节:子块划分、预处理实施、正交化处理、残差向量修正以及重复正交化保障。预处理器的引入能有效改善系统条件数,可采用不完全LU分解或逐次超松弛等技术实现。 基于Julia平台的实现需重点关注以下技术环节: 1. 线性代数运算:依托内置LinearAlgebra模块完成矩阵向量乘积、内积运算等基础操作 2. 迭代控制架构:建立循环迭代机制,设置收敛判定标准(如特征值相对误差阈值或最大迭代次数限制) 3. 正交化保障:采用Gram-Schmidt过程或Householder变换维持向量组正交性 4. 特征值估算:通过Rayleigh商迭代逐步逼近真实特征值 5. 性能优化策略:针对大规模问题采用稀疏矩阵存储格式,结合并行计算技术提升执行效率 研究现成的LOBPCG算法实现代码有助于深入理解数值计算的核心技术,包括高效内存管理、算法结构设计及实际工程应用方案。掌握该算法不仅能够提升数值编程能力,更为解决复杂线性代数问题提供了可靠的技术路径。 资源来源于网络分享,仅用于学习交流使用,请勿用于商业,如有侵权请联系我删除!
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