void KeyboardUpCallback(unsigned char key, int x, int y)
{
gKeys[key] = false;
switch (key)
{
case 'p': { bPause = !bPause;
if (bPause)
hud.SetDisplayString(1, "Paused - Hit \"p\" to Unpause", 0.3f, 0.55f);
else
hud.SetDisplayString(1, "", 0.0f, 0.0f);
getElapsedTime();
break; }
case 'f': { bForceMode = !bForceMode; break; }
case 'b':
{
box = CreateBox(NxVec3(2,5-0.75,7), NxVec3(0.75,0.75,0.75), 1);
sphere = CreateSphere(NxVec3(0,4-0.4,1), 0.4, 1);
capsule = CreateCapsule(NxVec3(3,0-(1+0.5),8), 1, 1, 1);
break;
}
case 27 : { exit(0); break; }
default : { break; }
}
}
void UpdateTime()
{
if(!gameOver)
{
hud.SetDisplayInt(29, minutes, 0.25f, 0.01f);
//code to manually place a 0 before any seond number lower than 10
if(seconds < 10)
{
hud.SetDisplayString(31, "Playtime: : 0", 0.10f, 0.01f);
hud.SetDisplayInt(30, seconds, 0.31f, 0.01f);
}
else
{
hud.SetDisplayString(31, "Playtime: :", 0.10f, 0.01f);
hud.SetDisplayInt(30, seconds, 0.30f, 0.01f);
}
}
else
{
hud.SetDisplayInt(29, minutes, -100.25f, 0.01f);
//code to manually place a 0 before any seond number lower than 10
if(seconds < 10)
{
hud.SetDisplayString(31, "Playtime: : 0", -100.10f, 0.01f);
hud.SetDisplayInt(30, seconds, -100.31f, 0.01f);
}
else
{
hud.SetDisplayString(31, "Playtime: :", -100.10f, 0.01f);
hud.SetDisplayInt(30, seconds, -100.30f, 0.01f);
}
}
}
void KeyboardUpCallback(unsigned char key, int x, int y)
{
gKeys[key] = false;
switch (key)
{
case 'p': { bPause = !bPause;
if (bPause)
hud.SetDisplayString(1, "Paused - Hit \"p\" to Unpause", 0.3f, 0.55f);
else
hud.SetDisplayString(1, "", 0.0f, 0.0f);
getElapsedTime();
break; }
case 'x': { bShadows = !bShadows; break; }
case 'b': { bDebugWireframeMode = !bDebugWireframeMode; break; }
case 'c': {
// Reset the box
NxMat33 m;
m.id();
box1->setGlobalOrientation(m);
box1->setGlobalPosition(NxVec3(5,3.5,0));
box1->setLinearVelocity(NxVec3(0,0,0));
box1->setAngularVelocity(NxVec3(0,0,0));
ChangeKernel();
break;
}
case 27 : { exit(0); break; }
default : { break; }
}
}
void ProcessInputs()
{
UpdateWheelShapeUserData();
ProcessForceKeys();
if (bSetCurrentMotorTorque1)
{
bSetCurrentMotorTorque1 = false;
wheel1->setMotorTorque(gCurrentMotorTorque1);
// Set motor torque #1 in HUD
char ds[512];
sprintf(ds, "Left wheel torque: %d", gCurrentMotorTorque1);
hud.SetDisplayString(2, ds, 0.015f, 0.92f);
}
if (bSetCurrentMotorTorque2)
{
bSetCurrentMotorTorque2 = false;
wheel2->setMotorTorque(gCurrentMotorTorque2);
// Set motor torque #2 in HUD
char ds[512];
sprintf(ds, "Right wheel torque: %d", gCurrentMotorTorque2);
hud.SetDisplayString(3, ds, 0.015f, 0.87f);
}
// Show debug wireframes
if (bDebugWireframeMode)
{
if (gScene)
{
gDebugRenderer.renderData(*gScene->getDebugRenderable());
}
}
}
void KeyboardUpCallback(unsigned char key, int x, int y)
{
gKeys[key] = false;
switch (key)
{
case 'p': { bPause = !bPause;
if (bPause)
hud.SetDisplayString(2, "Paused - Hit \"p\" to Unpause", 0.3f, 0.55f);
else
hud.SetDisplayString(2, "", 0.0f, 0.0f);
break; }
case 'x': { bShadows = !bShadows; break; }
case 'b': { bDebugWireframeMode = !bDebugWireframeMode; break; }
case 'f': { bForceMode = !bForceMode; break; }
case 'o':
{
NxCloth** cloths = gScene->getCloths();
for (NxU32 i = 0; i < gScene->getNbCloths(); i++)
{
cloths[i]->setFlags(cloths[i]->getFlags() ^ NX_CLF_BENDING_ORTHO);
}
break;
}
case 'g':
{
NxCloth** cloths = gScene->getCloths();
for (NxU32 i = 0; i < gScene->getNbCloths(); i++)
{
cloths[i]->setFlags(cloths[i]->getFlags() ^ NX_CLF_GRAVITY);
}
break;
}
case 'y':
{
NxCloth** cloths = gScene->getCloths();
for (NxU32 i = 0; i < gScene->getNbCloths(); i++)
{
cloths[i]->setFlags(cloths[i]->getFlags() ^ NX_CLF_BENDING);
}
break;
}
case ' ':
{
NxActor* sphere = CreateSphere(gCameraPos, 1, 1);
sphere->setLinearVelocity(gCameraForward * 20);
break;
}
case 27 : { exit(0); break; }
default : { break; }
}
}
void CheckLives()
{
//game is in player displayer lives at top right
hud.SetDisplayInt(4, lives, 0.86f, 0.93f);
//levelnum
hud.SetDisplayInt(8, currentLevel, 0.52f, 0.93f);
//if game is over display final score
if(gameOver)
{
ShowScores();
hud.SetDisplayString(3, "", 0.0f, 0.0f);
hud.SetDisplayString(0, "", 0.3f, 0.55f);
hud.SetDisplayString(2, " Game Over\nYour Score:\n\n\n -High Scores-\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\nBackspace = Restart", 0.4f, 0.65f);
hud.SetDisplayString(4, "", 0.3f, 0.55f);
}
//check if level is complete
if(nextLevel)
{
hud.SetDisplayString(3, "", 0.0f, 0.0f);
hud.SetDisplayString(0, "", 0.3f, 0.55f);
hud.SetDisplayString(2, "Level Complete!\n\nPress Enter to Progress", 0.3f, 0.55f);
hud.SetDisplayString(4, "", 0.3f, 0.55f);
}
}
void ProcessInputs()
{
UpdateWheelShapeUserData();
ProcessForceKeys();
if (bSetCurrentSteerAngle)
{
bSetCurrentSteerAngle = false;
wheel1->setSteerAngle(gCurrentSteerAngle);
// Add front wheel steer angle to HUD
char ds[512];
sprintf(ds, "Front Wheel Steer Angle: %d", (int)(gCurrentSteerAngle*180.0/NxPi));
hud.SetDisplayString(2, ds, 0.015f, 0.92f);
}
if (bSetCurrentMotorTorque)
{
bSetCurrentMotorTorque = false;
wheel2->setMotorTorque(gCurrentMotorTorque);
wheel3->setMotorTorque(gCurrentMotorTorque);
// Add rear wheel motor torque to HUD
char ds[512];
sprintf(ds, "Rear Wheel Motor Torque: %d", gCurrentMotorTorque);
hud.SetDisplayString(3, ds, 0.015f, 0.87f);
}
if (bSetCurrentBrakeTorque)
{
bSetCurrentBrakeTorque = false;
wheel2->setBrakeTorque(gCurrentBrakeTorque);
wheel3->setBrakeTorque(gCurrentBrakeTorque);
// Add rear wheel brake torque to HUD
char ds[512];
sprintf(ds, "Rear Wheel Brake Torque: %d", gCurrentBrakeTorque);
hud.SetDisplayString(4, ds, 0.015f, 0.82f);
}
// Show debug wireframes
if (bDebugWireframeMode)
{
if (gScene)
{
gDebugRenderer.renderData(*gScene->getDebugRenderable());
}
}
}
void ProcessInputs()
{
DisableAKey('t');
ProcessForceKeys();
UpdateJointMotorTarget();
if (bReconfigureD6Joint)
{
bReconfigureD6Joint = false;
gJointType = (gJointType+1)%gNumJointConfigurations;
ReconfigureD6Joint();
}
if (bToggleLowerActorGravity)
{
char ds[512];
bToggleLowerActorGravity = false;
if (capsule2->readBodyFlag(NX_BF_DISABLE_GRAVITY))
capsule2->clearBodyFlag(NX_BF_DISABLE_GRAVITY);
else
capsule2->raiseBodyFlag(NX_BF_DISABLE_GRAVITY);
// Set lower actor gravity in HUD
sprintf(ds, "Lower Actor Gravity: %s", gOnOffString[!capsule2->readBodyFlag(NX_BF_DISABLE_GRAVITY)]);
hud.SetDisplayString(11, ds, 0.015f, 0.47f);
}
// Show debug wireframes
if (bDebugWireframeMode)
{
if (gScene) gDebugRenderer.renderData(*gScene->getDebugRenderable());
}
}
void KeyboardUpCallback(unsigned char key, int x, int y)
{
gKeys[key] = false;
switch (key)
{
case '0': { gPerfRenderer.toggleEnable(); break; }
case 'p': { bPause = !bPause;
if (bPause)
hud.SetDisplayString(1, "Paused - Hit \"p\" to Unpause", 0.3f, 0.55f);
else
hud.SetDisplayString(1, "", 0.0f, 0.0f);
getElapsedTime();
break; }
case 'x': { bShadows = !bShadows; break; }
case 'b': { bDebugWireframeMode = !bDebugWireframeMode; break; }
case 'f': { bForceMode = !bForceMode; break; }
case 27 : { exit(0); break; }
// Switch simulation threads mode
case 't': { ReleaseNx();
gbThreadScheduler = gbThreadPolling = gbThreadSDKManage = gbNoThread = false;
gbThreadScheduler = true;
InitNx();
break; }
case 'y': { ReleaseNx();
gbThreadScheduler = gbThreadPolling = gbThreadSDKManage = gbNoThread = false;
gbThreadPolling = true;
InitNx();
break; }
case 'g': { ReleaseNx();
gbThreadScheduler = gbThreadPolling = gbThreadSDKManage = gbNoThread = false;
gbThreadSDKManage = true;
InitNx();
break; }
case 'h': { ReleaseNx();
gbThreadScheduler = gbThreadPolling = gbThreadSDKManage = gbNoThread = false;
gbNoThread = true;
InitNx();
break; }
default : { break; }
}
}
void KeyboardUpCallback(unsigned char key, int x, int y)
{
gKeys[key] = false;
switch (key)
{
case 'p': { bPause = !bPause;
if (bPause)
hud.SetDisplayString(1, "Paused - Hit \"p\" to Unpause", 0.3f, 0.55f);
else
hud.SetDisplayString(1, "", 0.0f, 0.0f);
getElapsedTime();
break; }
case 'x': { bShadows = !bShadows; break; }
case 'b': { bDebugWireframeMode = !bDebugWireframeMode; break; }
case 'f': { bForceMode = !bForceMode; break; }
case 27 : { exit(0); break; }
default : { break; }
}
}
void RenderCallback()
{
// Clear buffers
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
ProcessCameraKeys();
SetupCamera();
if (gScene && !bPause)
{
GetPhysicsResults();
ProcessInputs();
StartPhysics();
}
// Display scene
RenderActors(bShadows);
// Display kernel Info
if (gForceField)
{
if (gForceField->getForceFieldKernel() == gCustomKernel)
{
hud.SetDisplayString(2, "Using CustomKernel", 0.14f, 0.92f);
}
else if (gForceField->getForceFieldKernel() == gLinearKernel)
{
hud.SetDisplayString(2, "Using LinearKernel", 0.14f, 0.92f);
}
}
// Render the HUD
hud.Render();
glFlush();
glutSwapBuffers();
}
void UnShowScores()
{
int count = 9;
for(int i = 0; i < 10; i++)
{
if(orderedScores[i] > 0)
{
hud.SetDisplayInt(count, 0, -100.55f, 0.5f - ((float)i/40));
char *display = &orderedNames[i][0];
count++;
hud.SetDisplayString(count, "", -100.4f, 0.5f - ((float)i/40));
count ++;
}
}
count = 0;
}
///
/// Handle all single key presses.
///
void KeyPress(unsigned char key, int x, int y)
{
if (!gKeys[key]) // ensure the keypress is only executed once
{
switch (key)
{
/*
case 'b': //toggle between different rendering modes
if (rendering_mode == RENDER_SOLID)
rendering_mode = RENDER_WIREFRAME;
else if (rendering_mode == RENDER_WIREFRAME)
rendering_mode = RENDER_BOTH;
else if (rendering_mode == RENDER_BOTH)
rendering_mode = RENDER_SOLID;
break;
*/
case 'p':
bPause = !bPause;
if (bPause)
{
hud.SetDisplayString(1, "Paused - Hit \"p\" to Unpause", 0.3f, 0.55f);
}
else
hud.SetDisplayString(1, "", 0.3f, 0.55f);
getElapsedTime();
break;
/*
case 'r':
SelectNextActor();
break;
case 'x':
bShadows = !bShadows;
break;
*/
case 27: //ESC
exit(0);
break;
case 8:
if(gameOver)
{// Reset PhysX and View
ResetGame();
ResetPhysX();
UnShowScores();
hud.SetDisplayString(3, "Score:", 0.04f, 0.93);
hud.SetDisplayString(2, "", 0.04f, 0.93);
hud.SetDisplayString(0, "Lives:", 0.76f, 0.93f);
//ResetCamera();
gSelectedActor = 0;
minutes = 0;
seconds = 0;
}
break;
case 13:
if(nextLevel)
{//progress level
NextLevel();
ResetPhysX();
hud.SetDisplayString(3, "Score:", 0.04f, 0.93);
hud.SetDisplayString(2, "", 0.04f, 0.93);
hud.SetDisplayString(0, "Lives:", 0.76f, 0.93f);
}
break;
default:
break;
}
}
gKeys[key] = true;
}
// Reconfigure joint, a.k.a., roll joint
void ReconfigureD6Joint()
{
NxActor* a0 = capsule1;
NxActor* a1 = capsule2;
NxD6JointDesc d6Desc;
// Reset actor #1
NxMat33 orient;
orient.id();
a1->raiseBodyFlag(NX_BF_KINEMATIC);
a1->setGlobalOrientation(orient);
a1->setGlobalPosition(NxVec3(0,3,0));
a1->clearBodyFlag(NX_BF_KINEMATIC);
d6Desc.actor[0] = a0;
d6Desc.actor[1] = a1;
// Reset Anchor and Axis
NxVec3 globalAnchor = NxVec3(0,5,0);
NxVec3 globalAxis = NxVec3(0,1,0);
d6Desc.setGlobalAnchor(globalAnchor);
d6Desc.setGlobalAxis(globalAxis);
switch (gJointType)
{
case 0: // Translation Limited Joint
{
d6Desc.twistMotion = NX_D6JOINT_MOTION_LOCKED;
d6Desc.swing1Motion = NX_D6JOINT_MOTION_LOCKED;
d6Desc.swing2Motion = NX_D6JOINT_MOTION_LOCKED;
d6Desc.xMotion = NX_D6JOINT_MOTION_LIMITED;
d6Desc.yMotion = NX_D6JOINT_MOTION_LIMITED;
d6Desc.zMotion = NX_D6JOINT_MOTION_LIMITED;
d6Desc.linearLimit.value = 0.8;
d6Desc.linearLimit.restitution = 0;
d6Desc.linearLimit.spring = 0;
d6Desc.linearLimit.damping = 0;
}
break;
case 1: // Translation Soft Limited Joint
{
d6Desc.twistMotion = NX_D6JOINT_MOTION_LOCKED;
d6Desc.swing1Motion = NX_D6JOINT_MOTION_LOCKED;
d6Desc.swing2Motion = NX_D6JOINT_MOTION_LOCKED;
d6Desc.xMotion = NX_D6JOINT_MOTION_LIMITED;
d6Desc.yMotion = NX_D6JOINT_MOTION_LIMITED;
d6Desc.zMotion = NX_D6JOINT_MOTION_LIMITED;
d6Desc.linearLimit.value = 0.8;
d6Desc.linearLimit.restitution = 0;
d6Desc.linearLimit.spring = 100;
d6Desc.linearLimit.damping = 0.1;
}
break;
case 2: // Rotation Limited Joint
{
d6Desc.twistMotion = NX_D6JOINT_MOTION_LIMITED;
d6Desc.swing1Motion = NX_D6JOINT_MOTION_LIMITED;
d6Desc.swing2Motion = NX_D6JOINT_MOTION_LIMITED;
d6Desc.xMotion = NX_D6JOINT_MOTION_LOCKED;
d6Desc.yMotion = NX_D6JOINT_MOTION_LOCKED;
d6Desc.zMotion = NX_D6JOINT_MOTION_LOCKED;
d6Desc.swing1Limit.value = 0.3*NxPi;
d6Desc.swing1Limit.restitution = 0;
d6Desc.swing1Limit.spring = 0;
d6Desc.swing1Limit.damping = 0;
d6Desc.swing2Limit.value = 0.3*NxPi;
d6Desc.swing2Limit.restitution = 0;
d6Desc.swing2Limit.spring = 0;
d6Desc.swing2Limit.damping = 0;
d6Desc.twistLimit.low.value = -0.05*NxPi;
d6Desc.twistLimit.low.restitution = 0;
d6Desc.twistLimit.low.spring = 0;
d6Desc.twistLimit.low.damping = 0;
d6Desc.twistLimit.high.value = 0.05*NxPi;
d6Desc.twistLimit.high.restitution = 0;
d6Desc.twistLimit.high.spring = 0;
d6Desc.twistLimit.high.damping = 0;
}
break;
case 3: // Rotation Soft Limited Joint
{
d6Desc.twistMotion = NX_D6JOINT_MOTION_LIMITED;
d6Desc.swing1Motion = NX_D6JOINT_MOTION_LIMITED;
d6Desc.swing2Motion = NX_D6JOINT_MOTION_LIMITED;
d6Desc.xMotion = NX_D6JOINT_MOTION_LOCKED;
d6Desc.yMotion = NX_D6JOINT_MOTION_LOCKED;
d6Desc.zMotion = NX_D6JOINT_MOTION_LOCKED;
d6Desc.swing1Limit.value = 0.3*NxPi;
d6Desc.swing1Limit.restitution = 0;
d6Desc.swing1Limit.spring = 300;
d6Desc.swing1Limit.damping = 10;
d6Desc.swing2Limit.value = 0.3*NxPi;
d6Desc.swing2Limit.restitution = 0;
d6Desc.swing2Limit.spring = 300;
d6Desc.swing2Limit.damping = 10;
d6Desc.twistLimit.low.value = -0.05*NxPi;
d6Desc.twistLimit.low.restitution = 0;
d6Desc.twistLimit.low.spring = 300;
d6Desc.twistLimit.low.damping = 10;
d6Desc.twistLimit.high.value = 0.05*NxPi;
d6Desc.twistLimit.high.restitution = 0;
}
break;
case 4: // Translation Motored Joint
{
d6Desc.twistMotion = NX_D6JOINT_MOTION_LOCKED;
d6Desc.swing1Motion = NX_D6JOINT_MOTION_LOCKED;
d6Desc.swing2Motion = NX_D6JOINT_MOTION_LOCKED;
d6Desc.xMotion = NX_D6JOINT_MOTION_LIMITED;
d6Desc.yMotion = NX_D6JOINT_MOTION_LIMITED;
d6Desc.zMotion = NX_D6JOINT_MOTION_LIMITED;
d6Desc.linearLimit.value = 1;
d6Desc.linearLimit.restitution = 0;
d6Desc.linearLimit.spring = 0;
d6Desc.linearLimit.damping = 0;
d6Desc.zDrive.driveType = NX_D6JOINT_DRIVE_POSITION;
d6Desc.zDrive.spring = 100;
d6Desc.zDrive.damping = 0;
d6Desc.drivePosition.set(0,5,1);
// d6Desc.zDrive.driveType = NX_D6JOINT_DRIVE_VELOCITY;
// d6Desc.zDrive.forceLimit = FLT_MAX;
// d6Desc.driveLinearVelocity.set(0,0,5);
}
break;
case 5: // Rotation Motored Joint
{
d6Desc.twistMotion = NX_D6JOINT_MOTION_LIMITED;
d6Desc.swing1Motion = NX_D6JOINT_MOTION_LIMITED;
d6Desc.swing2Motion = NX_D6JOINT_MOTION_LIMITED;
d6Desc.xMotion = NX_D6JOINT_MOTION_LOCKED;
d6Desc.yMotion = NX_D6JOINT_MOTION_LOCKED;
d6Desc.zMotion = NX_D6JOINT_MOTION_LOCKED;
d6Desc.swing1Limit.value = 0.3*NxPi;
d6Desc.swing1Limit.restitution = 0;
d6Desc.swing1Limit.spring = 0;
d6Desc.swing1Limit.damping = 0;
d6Desc.swing2Limit.value = 0.3*NxPi;
d6Desc.swing2Limit.restitution = 0;
d6Desc.swing2Limit.spring = 0;
d6Desc.swing2Limit.damping = 0;
d6Desc.twistLimit.low.value = -0.05*NxPi;
d6Desc.twistLimit.low.restitution = 0;
d6Desc.twistLimit.low.spring = 0;
d6Desc.twistLimit.low.damping = 0;
d6Desc.twistLimit.high.value = 0.05*NxPi;
d6Desc.twistLimit.high.restitution = 0;
d6Desc.twistLimit.high.spring = 0;
d6Desc.twistLimit.high.damping = 0;
// Slerp Drive - Orientation Target
d6Desc.flags = NX_D6JOINT_SLERP_DRIVE;
d6Desc.slerpDrive.driveType = NX_D6JOINT_DRIVE_POSITION;
d6Desc.slerpDrive.spring = 200;
d6Desc.slerpDrive.damping = 0;
NxQuat q;
q.fromAngleAxis(90,NxVec3(0,1,0));
d6Desc.driveOrientation = q;
}
break;
};
d6Desc.projectionMode = NX_JPM_NONE;
// Set joint motion display values
gJointMotion[3] = d6Desc.twistMotion;
gJointMotion[4] = d6Desc.swing1Motion;
gJointMotion[5] = d6Desc.swing2Motion;
gJointMotion[0] = d6Desc.xMotion;
gJointMotion[1] = d6Desc.yMotion;
gJointMotion[2] = d6Desc.zMotion;
char ds[512];
// Set joint type in HUD
sprintf(ds, "JOINT TYPE: %s", gJointTypeString[gJointType]);
hud.SetDisplayString(2, ds, 0.015f, 0.92f);
// Set rotation motions in HUD
sprintf(ds, " Axis: %s", gJointMotionString[gJointMotion[3]]);
hud.SetDisplayString(4, ds, 0.015f, 0.82f);
sprintf(ds, " Normal: %s", gJointMotionString[gJointMotion[4]]);
hud.SetDisplayString(5, ds, 0.015f, 0.77f);
sprintf(ds, " Binormal: %s", gJointMotionString[gJointMotion[5]]);
hud.SetDisplayString(6, ds, 0.015f, 0.72f);
// Set translation motions in HUD
sprintf(ds, " Axis: %s", gJointMotionString[gJointMotion[0]]);
hud.SetDisplayString(8, ds, 0.015f, 0.62f);
sprintf(ds, " Normal: %s", gJointMotionString[gJointMotion[1]]);
hud.SetDisplayString(9, ds, 0.015f, 0.57f);
sprintf(ds, " Binormal: %s", gJointMotionString[gJointMotion[2]]);
hud.SetDisplayString(10, ds, 0.015f, 0.52f);
d6Joint->loadFromDesc(d6Desc);
}
void KeyboardUpCallback(unsigned char key, int x, int y)
{
gKeys[key] = false;
switch (key)
{
case 'p': { bPause = !bPause;
if (bPause)
hud.SetDisplayString(1, "Paused - Hit \"p\" to Unpause", 0.3f, 0.55f);
else
hud.SetDisplayString(1, "", 0.0f, 0.0f);
getElapsedTime();
break; }
case 'x': { bShadows = !bShadows; break; }
case 'b': { bDebugWireframeMode = !bDebugWireframeMode; break; }
case 'f': { bForceMode = !bForceMode; break; }
// Left wheel
case '1':
{
gCurrentMotorTorque1 += 100;
bSetCurrentMotorTorque1 = true;
break;
}
case '2':
{
gCurrentMotorTorque1 = 0;
bSetCurrentMotorTorque1 = true;
break;
}
case '3':
{
gCurrentMotorTorque1 -= 100;
bSetCurrentMotorTorque1 = true;
break;
}
// Right wheel
case '8':
{
gCurrentMotorTorque2 += 100;
bSetCurrentMotorTorque2 = true;
break;
}
case '9':
{
gCurrentMotorTorque2 = 0;
bSetCurrentMotorTorque2 = true;
break;
}
case '0':
{
gCurrentMotorTorque2 -= 100;
bSetCurrentMotorTorque2 = true;
break;
}
case 27 : { exit(0); break; }
default : { break; }
}
}
