• Marus Documentation
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  • Marus
    • BoatPhysics
    • BoatPhysicsMath
    • DebugPhysics
    • ModifyBoatMesh
    • SlammingForceData
    • TriangleData
  • Marus.Actuators
    • AUVRosController
    • PwmThruster
    • PwmThruster.AllowedVoltages
    • ThrusterController
  • Marus.Actuators.Datasheets
    • T200ThrusterDatasheet
  • Marus.Communications
    • RangeReading
  • Marus.Communications.Acoustics
    • AcousticDevice
    • AcousticDevice<T>
    • AcousticMedium
    • AcousticMediumHelper
    • AcousticMessage
    • AcousticReceiver
    • AcousticTranciever
    • AcousticTransmiter
    • AcousticTransmiterParams
    • MediumBase
    • Nanomodem
    • NanomodemMessage
    • NanomodemROS
    • TransmitionType
  • Marus.Communications.Rf
    • LoraDevice
    • LoraDeviceRos
    • LoraDummyTransmitter
    • LoraMessage
    • LoraRanging
    • LoraRangingRos
    • RfDevice
    • RfDevice<T>
    • RfMediumHelper
    • RfMessage
    • RfReceiver
    • RfTranciever
    • RfTransmiter
    • RfTransmitterParams
    • TransmitionType
  • Marus.Controllers
    • DiverGuidanceController
    • FishController
    • VesselForceController
    • VesselVelocityController
  • Marus.Core
    • GeographicFrame
    • GeoPoint
    • PauseMenu
    • TfExtensions
    • TimeHandler
  • Marus.CustomInspector
    • ConditionalHideAttribute
    • ConditionalHideInInspectorAttribute
    • HideInRuntimeInspectorAttribute
  • Marus.Logger
    • DataLogger
    • DataLoggerUtilities
    • GameObjectLogger
    • GameObjectLogger<T>
    • LogRecord
    • LogRecord<T>
  • Marus.Networking
    • MessageExtensions
    • ParamServerHandler
    • RosConnection
    • ServerStreamer<T>
    • ServerStreamer<T>.MessageHandleMode
    • ServiceCaller
    • TfHandler
    • VisualizationROS
  • Marus.NoiseDistributions
    • AlfaBeta
    • Gaussian
    • INoise
    • Noise
    • NoiseParameters
  • Marus.ObjectAnnotation
    • CameraObjectDetectionSaver
    • ClassObjects
    • ObjectRecord
    • PointCloudSegmentationSaver
  • Marus.Ocean
    • WaterHeightSampler
  • Marus.Quest
    • QuestControl
    • QuestWaypoint
  • Marus.ROS
    • TfStreamerROS
  • Marus.Sensors
    • CameraSensor
    • CameraSensorROS
    • LidarConfig
    • LidarReading
    • RaycastJobHelper
    • RaycastJobHelper<T>
    • RaycastJobHelper<T>.CreateRaycastCommandsJob
    • RaycastJobHelper<T>.ReadbackDataJob
    • RaycastLidar
    • RaycastLidarPointCloud2ROS
    • RaycastLidarROS
    • RayDefinitionType
    • RayInterval
    • SensorBase
    • SensorCallback
    • SensorSampler
    • SensorStreamer<TClient, TMsg>
    • Sonar2D
    • Sonar3D
    • SonarReading
  • Marus.Sensors.AIS
    • AISClassType
    • AisDevice
    • AisManager
    • AisMessage
    • AISMessageType
    • AisSensor
    • AisSensorROS
    • ManeuverIndicator
    • MMSIGenerator
    • NavigationStatus
    • PositionAccuracy
    • PositionReportClassA
    • Raim
    • TimeIntervals
  • Marus.Sensors.Core
    • CameraFrustum
    • ComputeBufferDataExtractor<T>
    • DepthCameras
    • DepthCameras.BufferPrecision
    • LidarMessage
    • PointField
    • SphericalProjectionFilter
  • Marus.Sensors.Primitive
    • DepthSensor
    • DvlSensor
    • GnssSensor
    • ImuROS
    • ImuSensor
    • PoseSensor
    • PoseSensorROS
    • RangeSensor
    • Sonar2DROS
    • Sonar3DROS
    • SonarPrimitive
    • SonarPrimitiveROS
  • Marus.Sensors.ROS
    • DepthSensorROS
    • DvlROS
    • GnssROS
  • Marus.StatisticsUI
    • MousePointToImagePointController
    • PathRecordingsVisualization
    • ScrollViewController
    • StatisticsEntry
    • StatisticsUIController
  • Marus.UI
    • Compass
    • Depth
  • Marus.Utils
    • Helpers
    • PCDLoader
    • PCDSaver
    • PointCloud
    • Singleton<T>
  • Marus.Visualization
    • ArrowVisualController
    • LineVisualController
    • LiveMovementVisualizer
    • ObjectBoundingBoxVisualizer
    • PathRecorder
    • PathVisualController
    • PointCloudManager
    • PointCloudRosVisualizer
    • PointVisualController
    • TransformVisualController
    • Visualizer
    • Visualizer.FilterValues
  • Marus.Visualization.Primitives
    • Arrow
    • Line
    • Path
    • Point
    • PointcloudMesh
    • Transform
    • VisualElement
  • TestUtils
    • ParameterServerMock
    • PingMock
    • TestClient
    • TfMock
    • Utils
  • UniColliderInterpolator
    • BoundsDivider
    • ColliderInterpolator
  • UnityStandardAssets.Characters.ThirdPerson
    • ThirdPersonSwimmer
    • ThirdPersonSwimmerController

Class BoatPhysicsMath

Inheritance
System.Object
BoatPhysicsMath
Inherited Members
System.Object.ToString()
System.Object.Equals(System.Object)
System.Object.Equals(System.Object, System.Object)
System.Object.ReferenceEquals(System.Object, System.Object)
System.Object.GetHashCode()
System.Object.GetType()
System.Object.MemberwiseClone()
Namespace: Marus
Assembly: cs.temp.dll.dll
Syntax
public static class BoatPhysicsMath

Fields

C_d_flat_plate_perpendicular_to_flow

Declaration
public const float C_d_flat_plate_perpendicular_to_flow = 1.28F
Field Value
Type Description
System.Single

RHO_AIR

Declaration
public const float RHO_AIR = 1.225F
Field Value
Type Description
System.Single

RHO_GOLD

Declaration
public const float RHO_GOLD = 19300F
Field Value
Type Description
System.Single

RHO_HELIUM

Declaration
public const float RHO_HELIUM = 0.164F
Field Value
Type Description
System.Single

RHO_MILK

Declaration
public const float RHO_MILK = 1035F
Field Value
Type Description
System.Single

RHO_OCEAN_WATER

Declaration
public const float RHO_OCEAN_WATER = 1027F
Field Value
Type Description
System.Single

RHO_SUNFLOWER_OIL

Declaration
public const float RHO_SUNFLOWER_OIL = 920F
Field Value
Type Description
System.Single

RHO_WATER

Declaration
public const float RHO_WATER = 1000F
Field Value
Type Description
System.Single

Methods

AirResistanceForce(Single, TriangleData, Vector3, Single)

Declaration
public static Vector3 AirResistanceForce(float rho, TriangleData triangleData, Vector3 triangleVelocity, float C_air)
Parameters
Type Name Description
System.Single rho
TriangleData triangleData
Vector3 triangleVelocity
System.Single C_air
Returns
Type Description
Vector3

BuoyancyForce(Single, TriangleData, Single)

Declaration
public static Vector3 BuoyancyForce(float rho, TriangleData triangleData, float triangleDepth)
Parameters
Type Name Description
System.Single rho
TriangleData triangleData
System.Single triangleDepth
Returns
Type Description
Vector3

PressureDragForce(TriangleData, Vector3)

Declaration
public static Vector3 PressureDragForce(TriangleData triangleData, Vector3 triangleVelocity)
Parameters
Type Name Description
TriangleData triangleData
Vector3 triangleVelocity
Returns
Type Description
Vector3

ResidualResistanceForce()

Declaration
public static float ResidualResistanceForce()
Returns
Type Description
System.Single

ResistanceCoefficient(Single, Single, Single)

Declaration
public static float ResistanceCoefficient(float rho, float velocity, float length)
Parameters
Type Name Description
System.Single rho
System.Single velocity
System.Single length
Returns
Type Description
System.Single

SlammingForce(SlammingForceData, TriangleData, Vector3, Single, Single)

Declaration
public static Vector3 SlammingForce(SlammingForceData slammingData, TriangleData triangleData, Vector3 triangleVelocity, float boatArea, float boatMass)
Parameters
Type Name Description
SlammingForceData slammingData
TriangleData triangleData
Vector3 triangleVelocity
System.Single boatArea
System.Single boatMass
Returns
Type Description
Vector3

ViscousWaterResistanceForce(Single, TriangleData, Vector3, Single)

Declaration
public static Vector3 ViscousWaterResistanceForce(float rho, TriangleData triangleData, Vector3 triangleVelocity, float Cf)
Parameters
Type Name Description
System.Single rho
TriangleData triangleData
Vector3 triangleVelocity
System.Single Cf
Returns
Type Description
Vector3
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