VR-Link for C# supplies publishers for objects that it defines.

In the F-18 example, we define a VehicleSim class that is used to manipulate the information we publish. To start, a publisher of the right type is required, so we define and initialize that. As you can see, it requires the exercise connection that is being used in the project.

EntityPublisher myEntityPub;

myEntityPub = new EntityPublisher(myExConn);

Our vehicle is an entity type so we define the EntityPublisher. To start to edit the values that the publisher sends, the EntityStateRepository of the publisher must be edited. The VehicleSim class stores a member for the EntityStateRepository (ESR).

EntityStateRepository myESR;

myESR = myEntityPub.esr;

The ESR information that needs to be modified is usually handled in a tick() function. Tick often refers to a defined amount of time between updates. Therefor a tick() function is called every time the threshold is reached. For this reason, the tick() functions require a time that represents the change in time since last call of this function. VehicleSim defines a simTick() function to handle modifying the ESR. Here is a small sample:

public void simTick(double dt)
{
   ...
       //update position
    myPos[i] += (myVel[i] + 0.5 * myAccel[i] * dt) * dt;
    
   ...
    //Convert position to correct format
    myESR.worldPosition = myCoordTrans.coordTrans(myPos);
    ...
    //call publisher tick function
    myEntityPub.tick(dt);
 
}

Notice that you must call the EntityPublisher.tick() function after your ESR has been modified.

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