void FlightSimDemo::update()
{
// Find the duration of the last frame in seconds
float duration = (float)TimingData::get().lastFrameDuration * 0.001f;
if (duration <= 0.0f) return;
// Start with no forces or acceleration.
aircraft.clearAccumulators();
// Add the propeller force
cyclone::Vector3 propulsion(-10.0f, 0, 0);
propulsion = aircraft.getTransform().transformDirection(propulsion);
aircraft.addForce(propulsion);
// Add the forces acting on the aircraft.
registry.updateForces(duration);
// Update the aircraft's physics.
aircraft.integrate(duration);
// Do a very basic collision detection and response with the ground.
cyclone::Vector3 pos = aircraft.getPosition();
if (pos.y < 0.0f)
{
pos.y = 0.0f;
aircraft.setPosition(pos);
if (aircraft.getVelocity().y < -10.0f)
{
resetPlane();
}
}
Application::update();
}
int32_t main(int32_t a_argc, char **a_argv)
{
opendlv::proxy::actuator::propulsion::Propulsion propulsion(a_argc, a_argv);
return propulsion.runModule();
}
