void VehicleObject::init_vehicle_physics(const Vector3f& box_size, const PhysObjInfo& info,
const VehicleProperties& properties)
{
m_iright_index = 0;
m_iup_index = 1;
m_iforward_index = 2;
set_vehicle_properties(properties);
m_box_size = btVector3((btScalar)box_size.x, (btScalar)box_size.y, (btScalar)box_size.z);
//Physics stuff
btCollisionShape* pChassisShape = new btBoxShape(m_box_size);
m_pListOfCollisionShapes.push_back(pChassisShape);
btCompoundShape* pCompoundShape = new btCompoundShape();
m_pListOfCollisionShapes.push_back(pCompoundShape);
btTransform localTrans;
localTrans.setIdentity();
localTrans.setOrigin(btVector3(0, 1, 0));
pCompoundShape->addChildShape(localTrans, pChassisShape);
//Setup chassis
btTransform chassisTrans;
chassisTrans.setIdentity();
chassisTrans.setOrigin(btVector3(0, 0, 0));
btVector3 localInertia(0, 0, 0);
pCompoundShape->calculateLocalInertia(info.mass, localInertia);
btDefaultMotionState* vehicleMotionState = new btDefaultMotionState(chassisTrans);
btRigidBody::btRigidBodyConstructionInfo cInfo(info.mass, vehicleMotionState, pCompoundShape, localInertia);
if(m_rbody)
{
delete m_rbody;
m_rbody = 0;
}
m_rbody = new btRigidBody(cInfo);
m_rbody->setContactProcessingThreshold(1e18f);
m_rbody->setUserPointer(&m_entity_id);
//initialise other parts of the vehicle
init_engine();
init_vehicle();
init_wheels();
}
int main(int argc , char *argv[])
{
// init vehicle
init_vehicle();
// connect to server
if(connect_server() != 0) {
// error
puts("Closing.");
return 0;
}
// connected
puts("All peachy.");
puts("Sending hi.");
// lets go in big loop and process incoming data
while(veh.flag){
// Sort of hearbeat
//send_hi();
// recv is blocking call
// data from server
veh.cnt = recv(veh.socket_desc, veh.server_reply , SERVER_MSG_SIZE , 0);
if (veh.cnt > 0 ) {
// we received data
// print to terminal that a message from server came in
printf("RECEIVED: %d BYTES\n", veh.cnt);
printf("MSG FROM SERVER: %s\n", veh.server_reply);
if (check_for_init() == 1){
// wasn't init
// check for stop
if (check_for_stop() == 1) {
// wasn't stop
// check for params
if (check_for_params() == 1) {
// wasn't params
// check for quit
if (check_for_quit() == 1) {
// it wasn't quit -> bad command
printf("Unknown command.\n");
}
else {
//it was quit -> so quit
veh.flag = 0;
}
}
}
}
// send proper response
send(veh.socket_desc, veh.message, strlen(veh.message), 0);
}
else {
puts("Received no data.");
// no data -> server probably ended the connection
veh.flag = 0;
}
// erase server reply
memset(veh.server_reply, 0, SERVER_MSG_SIZE);
// erase message
memset(veh.message, 0, SERVER_MSG_SIZE);
// erase counter
veh.cnt = 0;
// sleep 500ms
//nanosleep((const struct timespec[]){{0, NSLEEP_TIME}}, NULL);
} // veh.flag
puts("Closing program.");
shutdown(veh.socket_desc, 2); // close socket
if (veh.state != VEH_UNINIT){
// dont call unless properly initialized
stop_wings();
}
return 0;
}
