sing UnityEngine; namespace Mogoson.Machinery { /// <summary> /// Rocker look at joint. /// </summary> [AddComponentMenu("Mogoson/Machinery/RockerJoint")] [ExecuteInEditMode] public class RockerJoint : RockerMechanism { #region Field and Property /// <summary> /// Keep up mode. /// </summary> public KeepUpMode keepUp = KeepUpMode.TransformUp; /// <summary> /// Reference forward as world up for look at. /// </summary> public Transform reference; /// <summary> /// World up for look at. /// </summary> public Vector3 WorldUp { get { if (keepUp == KeepUpMode.ReferenceForward && reference) return reference.forward; else return transform.up; } } #endregion #region Public Method /// <summary> /// Drive rocker by velocity. /// </summary> /// <param name="velocity">Velocity of drive.</param> /// <param name="type">Type of drive.</param> public override void Drive(float velocity = 0, DriveType type = DriveType.Ignore) { transform.LookAt(joint, WorldUp); } #endregion } }

这段代码是Unity引擎中的一部分，它定义了一个名为"Mogoson.Machinery"的命名空间。其中包含一个名为"RockerJoint"的类，该类继承自"RockerMechanism"类，并添加了一个组件菜单"AddComponentMenu"，以及一个在编辑模式下执行的标记"ExecuteInEditMode"。该类实现了一个摇臂机构。

相关问题

/// <summary> /// 计算速度 /// </summary> /// <param name="previousContour">前一个轮廓线</param> /// <param name="currentContour">后一个轮廓线</param> /// <param name="frameInterval"> 时间间隔 0.1 </param> public double calculateSpeed(OpenCvSharp.Point[] previousContour , OpenCvSharp.Point[] currentContour,double frameInterval) { { // 获取最佳匹配的两个轮廓线 // 计算两个轮廓线的质心 Moments previousMoments = Cv2.Moments(previousContour); Moments currentMoments = Cv2.Moments(currentContour); Point2f previousCentroid = new Point2f((float)(previousMoments.M10 / previousMoments.M00), (float)(previousMoments.M01 / previousMoments.M00)); Point2f currentCentroid = new Point2f((float)(currentMoments.M10 / currentMoments.M00), (float)(currentMoments.M01 / currentMoments.M00)); // 计算两个质心之间的距离 double distance = Cv2.PointPolygonTest(previousContour, currentCentroid, true); // 计算速度 double velocity = distance / frameInterval; Debug.Log("Velocity: " + velocity); return velocity; } }

根据您提供的代码，您想要编写一个方法来计算速度。下面是一个修改后的代码示例：

using OpenCvSharp;
using UnityEngine;

public class SpeedCalculator
{
    /// <summary>
    /// 计算速度
    /// </summary>
    /// <param name="previousContour">前一个轮廓线</param>
    /// <param name="currentContour">后一个轮廓线</param>
    /// <param name="frameInterval">时间间隔</param>
    /// <returns>速度</returns>
    public double CalculateSpeed(Point[] previousContour, Point[] currentContour, double frameInterval)
    {
        // 计算两个轮廓线的质心
        Moments previousMoments = Cv2.Moments(previousContour);
        Moments currentMoments = Cv2.Moments(currentContour);
        Point2f previousCentroid = new Point2f((float)(previousMoments.M10 / previousMoments.M00), (float)(previousMoments.M01 / previousMoments.M00));
        Point2f currentCentroid = new Point2f((float)(currentMoments.M10 / currentMoments.M00), (float)(currentMoments.M01 / currentMoments.M00));

        // 计算两个质心之间的距离
        double distance = Cv2.PointPolygonTest(previousContour, currentCentroid, true);

        // 计算速度
        double velocity = distance / frameInterval;

        Debug.Log("Velocity: " + velocity);

        return velocity;
    }
}

在这个修改后的代码中，我将整个方法放入了一个名为SpeedCalculator的类中，并对方法进行了一些小的修改。我添加了方法的注释，并将方法名称从"calculateSpeed"改为"CalculateSpeed"，符合C#中的命名约定。

请注意，为了使用OpenCvSharp的命名空间，您需要确保已经在项目中引用了OpenCvSharp库。

在您的代码中调用这个方法时，传入前一个轮廓线、后一个轮廓线和时间间隔，它将返回计算出的速度。

NullReferenceException: Object reference not set to an instance of an object Inventory.OnClickPickUp () (at Assets/Script/Inventory.cs:39) UnityEngine.Events.InvokableCall.Invoke () (at <ff7b004c24954ff98f68a709be4708c3>:0) UnityEngine.Events.UnityEvent.Invoke () (at <ff7b004c24954ff98f68a709be4708c3>:0) UnityEngine.UI.Button.Press () (at D:/Program Files/Unity/Hub/Editor/2019.4.14f1c1/Editor/Data/Resources/PackageManager/BuiltInPackages/com.unity.ugui/Runtime/UI/Core/Button.cs:68) UnityEngine.UI.Button.OnPointerClick (UnityEngine.EventSystems.PointerEventData eventData) (at D:/Program Files/Unity/Hub/Editor/2019.4.14f1c1/Editor/Data/Resources/PackageManager/BuiltInPackages/com.unity.ugui/Runtime/UI/Core/Button.cs:110) UnityEngine.EventSystems.ExecuteEvents.Execute (UnityEngine.EventSystems.IPointerClickHandler handler, UnityEngine.EventSystems.BaseEventData eventData) (at D:/Program Files/Unity/Hub/Editor/2019.4.14f1c1/Editor/Data/Resources/PackageManager/BuiltInPackages/com.unity.ugui/Runtime/EventSystem/ExecuteEvents.cs:50) UnityEngine.EventSystems.ExecuteEvents.Execute[T] (UnityEngine.GameObject target, UnityEngine.EventSystems.BaseEventData eventData, UnityEngine.EventSystems.ExecuteEvents+EventFunction`1[T1] functor) (at D:/Program Files/Unity/Hub/Editor/2019.4.14f1c1/Editor/Data/Resources/PackageManager/BuiltInPackages/com.unity.ugui/Runtime/EventSystem/ExecuteEvents.cs:261) UnityEngine.EventSystems.EventSystem:Update() (at D:/Program Files/Unity/Hub/Editor/2019.4.14f1c1/Editor/Data/Resources/PackageManager/BuiltInPackages/com.unity.ugui/Runtime/EventSystem/EventSystem.cs:377)

这是一个 NullReferenceException 异常，在调用 Inventory.cs 脚本的 OnClickPickUp() 函数的时候发生了错误。可能是因为对象的引用未被正确初始化，导致出现了 "Object reference not set to an instance of an object" 的错误。你需要检查 Inventory.cs 中的代码，确认所有的对象都被正确地初始化并且没有为空的引用。另外，也需要检查你的按钮是否正确绑定了 OnClickPickUp() 函数。