Projectile::Projectile(float px, float py, float pDirection, float pVelocity, float pDamage, sf::Texture mSpriteTexture)
{
CalculateVelocities(pDirection, pVelocity);
SetDamage(pDamage);
SetTexture(mSpriteTexture);
SetDirection(pDirection);
SetPosX(px);
SetPosY(py);
}
void LineSmoother::ProcessNewPoint()
{
if(_orgPoints.size() < 1)
{ // Nothing to do.
return;
}
uint32 newPointIndex = _orgPoints.size()-1;
#ifdef DEBUG_LINE_SMOOTHER
_orgPoints[newPointIndex].widthPixels = 1.0*newPointIndex;
#endif
CalculateVelocities(newPointIndex);
CalculateWidths(newPointIndex);
CalculateSmoothPoints(newPointIndex);
}
// Update the controller
void ServoPlugin::Update()
{
// handle callbacks
queue_.callAvailable();
common::Time stepTime;
stepTime = world->GetSimTime() - prevUpdateTime;
if (controlPeriod == 0.0 || stepTime > controlPeriod) {
CalculateVelocities();
publish_joint_states();
prevUpdateTime = world->GetSimTime();
}
if (enableMotors)
{
servo[FIRST].joint->SetVelocity(0, servo[FIRST].velocity);
if (countOfServos > 1) {
servo[SECOND].joint->SetVelocity(0, servo[SECOND].velocity);
if (countOfServos > 2) {
servo[THIRD].joint->SetVelocity(0, servo[THIRD].velocity);
}
}
servo[FIRST].joint->SetMaxForce(0, maximumTorque);
if (countOfServos > 1) {
servo[SECOND].joint->SetMaxForce(0, maximumTorque);
if (countOfServos > 2) {
servo[THIRD].joint->SetMaxForce(0, maximumTorque);
}
}
} else {
servo[FIRST].joint->SetMaxForce(0, 0.0);
if (countOfServos > 1) {
servo[SECOND].joint->SetMaxForce(0, 0.0);
if (countOfServos > 2) {
servo[THIRD].joint->SetMaxForce(0, 0.0);
}
}
}
}
