void PlayerShip::accelerate()
{
if (getSpeed() < 5.0F)
setSpeed(getSpeed() + 1.0F);
writeVelocity().x_ += cos(deg2rad(getAngle())) * getSpeed();
writeVelocity().y_ += sin(deg2rad(getAngle())) * getSpeed();
}
void Bullet::fire()
{
writeVelocity().x_ += cos(deg2rad(getAngle())) * getSpeed();
writeVelocity().y_ += sin(deg2rad(getAngle())) * getSpeed();
}
void Structure0815:: iterate
(
double dt )
{
DynVector zero(_dim, 0.0);
DynVector force(3, 0.0);
DynVector totalForce(_gravity);
totalForce *= _totalMass; // Makes gravity acceleration a force
DynVector r(3, 0.0); // Distance vector from center of gravity
DynVector totalTorque(3, 0.0); // Always init with three components
DynVector torque(3, 0.0);
int verticesSize = _vertices.size() / _dim;
for (int iVertex=0; iVertex < verticesSize; iVertex++){
for (int i=0; i < _dim; i++){
force[i] = _forces[iVertex*_dim + i];
totalForce[i] += force[i];
}
for (int i=0; i<_dim; i++){
r[i] = _vertices[iVertex*_dim + i] - _centerOfGravity[i];
}
tarch::la::cross(r, force, torque);
totalTorque += torque;
}
//STRUCTURE_DEBUG("Total mass = " << _totalMass);
STRUCTURE_DEBUG("Total force = " << totalForce);
//STRUCTURE_DEBUG("Center of gravity = " << _centerOfGravity);
STRUCTURE_DEBUG("Total torque = " << totalTorque);
DynVector translVelocityDelta(zero);
if (not _fixed){
// Compute values of next timestep
translVelocityDelta = (totalForce / _totalMass) * dt;
STRUCTURE_DEBUG("translVelocityDelta = " << translVelocityDelta);
}
for (int i=0; i < _dim; i++){
if (_fixedTranslationDirections[i]){
translVelocityDelta[i] = 0.0;
}
}
// Set values of next timestep
DynVector rotForce(3, 0.0);
DynVector rotVelocityDelta(zero);
DynVector writeVelocity(zero);
DynVector writeDisplacement(zero);
DynVector velocityDelta(zero);
double normR = 0.0;
for (int iVertex=0; iVertex < verticesSize; iVertex++){
int index = iVertex *_dim;
// Compute and write velocity
for (int i=0; i<_dim; i++){
r[i] = _vertices[index + i] - _centerOfGravity[i];
}
normR = tarch::la::norm2(r);
tarch::la::cross(totalTorque, r, rotForce);
//rotForce[0] = torque * -1.0 * r[1]; // TODO
//rotForce[1] = torque * r[0]; // TODO
for (int i=0; i < _dim; i++){
rotVelocityDelta[i] = (rotForce[i] / _totalMass) * dt;
}
velocityDelta = rotVelocityDelta + translVelocityDelta;
for (int i=0; i < _dim; i++){
_velocityDeltas[index+i] = velocityDelta[i];
_velocities[index+i] = _oldVelocities[index+i] + _velocityDeltas[index+i];
_displacementDeltas[index+i] =
(_oldVelocities[index+i] + _velocityDeltas[index+i])*dt;
_displacements[index+i] =
_oldDisplacements[index+i] + _displacementDeltas[index+i];
}
}
STRUCTURE_DEBUG("Computed time = " << _time
<< ", computed timesteps = " << _timesteps);
}
