void ChShaft::Update(double mytime, bool update_assets) {
// Update parent class too
ChPhysicsItem::Update(mytime, update_assets);
// Class update
// TrySleeping(); // See if the body can fall asleep; if so, put it to sleeping
ClampSpeed(); // Apply limits (if in speed clamping mode) to speeds.
}
void ChShaft::VariablesQbSetSpeed(double step) {
double old_dt = pos_dt;
// from 'qb' vector, sets body speed, and updates auxiliary data
pos_dt = variables.Get_qb().GetElement(0, 0);
// apply limits (if in speed clamping mode) to speeds.
ClampSpeed();
// Compute accel. by BDF (approximate by differentiation);
if (step) {
pos_dtdt = (pos_dt - old_dt) / step;
}
}
void CBoidObject::CalcMovement(float dt,SBoidContext &bc,bool banking)
{
// Calc movement with current velocity.
Vec3 prevAccel(0,0,0);
if(banking)
{
if(m_currentAccel.x != 0 && m_currentAccel.y != 0 && m_currentAccel.z != 0)
prevAccel = m_currentAccel.GetNormalized();
else
banking = false;
}
m_currentAccel = m_currentAccel*bc.fSmoothFactor + m_accel*(1.0f - bc.fSmoothFactor);
Vec3 velocity = m_heading*m_speed;
m_pos = m_pos + velocity*dt;
velocity = velocity + m_currentAccel*dt;
m_speed = velocity.GetLength();
// ClampSpeed(bc,dt);
if(fabs(m_speed) > 0.0001f)
{
Vec3 newHeading = velocity;// * (1.0f/m_speed); // Normalized velocity vector is our heading.
newHeading.NormalizeFast();
if(bc.fMaxTurnRatio)
{
float fHeadingSmothFactor = bc.fMaxTurnRatio * bc.fSmoothFactor;
if(fHeadingSmothFactor > 1.0f)
fHeadingSmothFactor = 1.0f;
m_heading = newHeading*fHeadingSmothFactor + m_heading*(1.0f - fHeadingSmothFactor);
}
else
{
m_heading = newHeading;
}
}
/*
if (m_speed > bc.MaxSpeed)
m_speed = bc.MaxSpeed;
if (m_speed < bc.MinSpeed)
m_speed = bc.MinSpeed;
*/
ClampSpeed(bc,dt);
if(banking)
{
Vec3 sideDir = m_heading.Cross(Vec3(0,0,1));
if(sideDir.IsZero())
sideDir = m_heading.Cross(Vec3(0,1,0));
// Vec3 v = m_currentAccel.GetLength();
m_bankingTrg = prevAccel.Dot(sideDir.GetNormalized());
}
else
m_bankingTrg = 0;
// Slowly go into the target banking.
float bd = m_bankingTrg - m_banking;
m_banking = m_banking + bd*dt*10.0f;
/*
if (m_pPhysics)
{
//pe_params_pos ppos;
//ppos.pos = Vec3(m_pos);
//m_pPhysics->SetParams(&ppos);
//pe_action_set_velocity asv;
//asv.v = m_heading*m_speed;
//m_pPhysics->Action(&asv);
}
*/
}
