/**
* Update the animation. This method will be called by the
* scenegraph rendering function just before the animated
* branch will be rendered.
*/
int CRRCControlSurfaceAnimation::update()
{
// calculate the deflection angle by summing up the contribution
// of all mapped control inputs times the individual gain
float angle = 0.0f;
for (int i = 0; i < (int)datasource.size(); i++)
{
angle += *datasource[i] * source_gain[i] * max_angle;
}
// limit to max_angle (caution: max_angle could be < 0.0, so we use the abs value!)
if (angle > abs_max_angle)
{
angle = abs_max_angle;
}
else if (angle < -abs_max_angle)
{
angle = -abs_max_angle;
}
// calculate transformation matrix for surface rotation
sgQuat q;
sgMat4 qmat;
sgAngleAxisToQuat(q, angle, axis);
sgQuatToMatrix(qmat, q);
sgMultMat4(current_transformation, qmat, move_to_origin);
sgPostMultMat4(current_transformation, move_back);
((ssgTransform*)anim_branch)->setTransform(current_transformation);
return 1;
}
/* Initial configuration */
void
SimConfig(tCarElt *carElt, tRmInfo* ReInfo)
{
tCar *car = &(SimCarTable[carElt->index]);
memset(car, 0, sizeof(tCar));
car->carElt = carElt;
car->DynGCg = car->DynGC = carElt->_DynGC;
car->trkPos = carElt->_trkPos;
car->ctrl = &carElt->ctrl;
car->params = carElt->_carHandle;
car->ReInfo = ReInfo;
SimCarConfig(car);
SimCarCollideConfig(car);
sgMakeCoordMat4(carElt->pub.posMat, carElt->_pos_X, carElt->_pos_Y, carElt->_pos_Z - carElt->_statGC_z,
RAD2DEG(carElt->_yaw), RAD2DEG(carElt->_roll), RAD2DEG(carElt->_pitch));
sgEulerToQuat (car->posQuat, -RAD2DEG(carElt->_yaw), RAD2DEG(carElt->_pitch), RAD2DEG(carElt->_roll));
sgQuatToMatrix (car->posMat, car->posQuat);
simu_total_time = 0.0f;
simu_init_time = GfTimeClock();
//sgMakeRotMat4 (car->posMat, RAD2DEG(carElt->_yaw), RAD2DEG(carElt->_roll), RAD2DEG(carElt->_pitch));
}
/**
* Initialize a CRRCControlSurfaceAnimation object
*/
void CRRCControlSurfaceAnimation::realInit()
{
sgQuat q;
sgAngleAxisToQuat(q, 0.0f, axis);
sgQuatToMatrix(current_transformation, q);
((ssgTransform*)anim_branch)->setTransform(current_transformation);
}
void
SimUpdate(tSituation *s, double deltaTime, int telemetry)
{
int i;
int ncar;
tCarElt *carElt;
tCar *car;
sgVec3 P;
static const float UPSIDE_DOWN_TIMEOUT = 5.0f;
double timestamp_start = GfTimeClock();
SimDeltaTime = deltaTime;
SimTelemetry = 0;//telemetry;
for (ncar = 0; ncar < s->_ncars; ncar++) {
SimCarTable[ncar].collision = 0;
SimCarTable[ncar].blocked = 0;
}
for (ncar = 0; ncar < s->_ncars; ncar++) {
car = &(SimCarTable[ncar]);
carElt = car->carElt;
if (carElt->_state & RM_CAR_STATE_NO_SIMU) {
RemoveCar(car, s);
continue;
} else if (((s->_maxDammage) && (car->dammage > s->_maxDammage)) ||
(car->fuel == 0) ||
(car->upside_down_timer > UPSIDE_DOWN_TIMEOUT) ||
(car->carElt->_state & RM_CAR_STATE_ELIMINATED)) {
RemoveCar(car, s);
if (carElt->_state & RM_CAR_STATE_NO_SIMU) {
continue;
}
}
if (s->_raceState & RM_RACE_PRESTART) {
car->ctrl->gear = 0;
}
CHECK(car);
ctrlCheck(car);
CHECK(car);
SimSteerUpdate(car);
CHECK(car);
SimGearboxUpdate(car);
CHECK(car);
SimEngineUpdateTq(car);
CHECK(car);
if (!(s->_raceState & RM_RACE_PRESTART)) {
SimCarUpdateWheelPos(car);
CHECK(car);
SimBrakeSystemUpdate(car);
CHECK(car);
SimAeroUpdate(car, s);
CHECK(car);
for (i = 0; i < 2; i++){
SimWingUpdate(car, i, s);
}
CHECK(car);
for (i = 0; i < 4; i++){
SimWheelUpdateRide(car, i);
}
CHECK(car);
for (i = 0; i < 2; i++){
SimAxleUpdate(car, i);
}
CHECK(car);
for (i = 0; i < 4; i++){
SimWheelUpdateForce(car, i);
}
CHECK(car);
}
SimTransmissionUpdate(car);
CHECK(car);
if (!(s->_raceState & RM_RACE_PRESTART)) {
SimWheelUpdateRotation(car);
CHECK(car);
SimCarUpdate(car, s);
CHECK(car);
}
}
SimCarCollideCars(s);
/* printf ("%f - ", s->currentTime); */
for (ncar = 0; ncar < s->_ncars; ncar++) {
car = &(SimCarTable[ncar]);
CHECK(car);
carElt = car->carElt;
if (carElt->_state & RM_CAR_STATE_NO_SIMU) {
continue;
}
CHECK(car);
SimCarUpdate2(car, s);
/* copy back the data to carElt */
carElt->pub.DynGC = car->DynGC;
carElt->pub.DynGCg = car->DynGCg;
#if 0
sgMakeCoordMat4(carElt->pub.posMat, carElt->_pos_X, carElt->_pos_Y, carElt->_pos_Z - carElt->_statGC_z,
RAD2DEG(carElt->_yaw), RAD2DEG(carElt->_roll), RAD2DEG(carElt->_pitch));
#else
sgQuatToMatrix (carElt->pub.posMat, car->posQuat);
carElt->pub.posMat[3][0] = car->DynGCg.pos.x;
carElt->pub.posMat[3][1] = car->DynGCg.pos.y;
carElt->pub.posMat[3][2] = car->DynGCg.pos.z - carElt->_statGC_z;
carElt->pub.posMat[0][3] = SG_ZERO ;
carElt->pub.posMat[1][3] = SG_ZERO ;
carElt->pub.posMat[2][3] = SG_ZERO ;
carElt->pub.posMat[3][3] = SG_ONE ;
#endif
carElt->_trkPos = car->trkPos;
for (i = 0; i < 4; i++) {
carElt->priv.wheel[i].relPos = car->wheel[i].relPos;
carElt->_wheelSeg(i) = car->wheel[i].trkPos.seg;
carElt->_brakeTemp(i) = car->wheel[i].brake.temp;
carElt->pub.corner[i] = car->corner[i].pos;
}
carElt->_gear = car->transmission.gearbox.gear;
carElt->_enginerpm = car->engine.rads;
carElt->_fuel = car->fuel;
carElt->priv.collision |= car->collision;
carElt->_dammage = car->dammage;
P[0] = -carElt->_statGC_x;
P[1] = -carElt->_statGC_y;
P[2] = -carElt->_statGC_z;
sgXformPnt3(P, carElt->_posMat);
carElt->_pos_X = P[0];
carElt->_pos_Y = P[1];
carElt->_pos_Z = P[2];
}
simu_total_time += GfTimeClock() - timestamp_start;
}