void CPHActivationShape::Create(const Fvector start_pos,const Fvector start_size,IPhysicsShellHolder* ref_obj,EType _type/*=etBox*/,u16 flags)
{
VERIFY(ref_obj);
R_ASSERT(_valid( start_pos ) );
R_ASSERT( _valid( start_size ) );
m_body = dBodyCreate (0) ;
dMass m;
dMassSetSphere(&m,1.f,100000.f);
dMassAdjust(&m,1.f);
dBodySetMass(m_body,&m);
switch(_type)
{
case etBox:
m_geom = dCreateBox (0,start_size.x,start_size.y,start_size.z) ;
break;
case etSphere:
m_geom = dCreateSphere (0,start_size.x);
break;
};
dGeomCreateUserData (m_geom) ;
dGeomUserDataSetObjectContactCallback(m_geom,ActivateTestDepthCallback) ;
dGeomUserDataSetPhysicsRefObject(m_geom,ref_obj) ;
dGeomSetBody (m_geom,m_body) ;
dBodySetPosition (m_body,start_pos.x,start_pos.y,start_pos.z) ;
Island() .AddBody (m_body) ;
dBodyEnable (m_body) ;
m_safe_state .create(m_body) ;
spatial_register () ;
m_flags.set(flags,TRUE);
}
void secondlap()
{
if(myposX == startX && myposY == startY && mydirection == 1 && !start) //Det här kommer gälla de första sekunderna roboten börjar köra också..!
{
home = true; // Klar med hela körningen
}
else
{
TransmitSensor(0);
sensorleft = longsensor(storedValues[0]);
if(sensorleft < 190 && sensorleft > 45 && controlisland)
{
controlisland = false;
if(!alreadyDone())
{
Island();
}
}
regulateright();
}
}
