Changeset 4438 in orxonox.OLD for orxonox/trunk/src/lib/coord/pilot_node.cc

Timestamp:

Jun 1, 2005, 8:15:59 PM (19 years ago)

Author:

patrick

Message:

orxonox/trunk: pilot node correction in control speed

File:

• orxonox/trunk/src/lib/coord/pilot_node.cc (modified) (3 diffs)

orxonox/trunk/src/lib/coord/pilot_node.cc

@@ -34 +34 @@
    this->setClassID(CL_PILOT_PARENT, "PilotNode");
 
-   travelSpeed = 60.0;
+   travelSpeed = 30.0;
    velocity = new Vector();
    bUp = bDown = bLeft = bRight = false;
@@ -66 +66 @@
   /* FIXME: calculating the direction and orthDirection every timeSlice is redundant! save it somewhere */
   /* calculate the direction in which the craft is heading  */
-  Vector direction (1.0, 0.0, 0.0);
+  //Vector direction (1.0, 0.0, 0.0);
   //direction = this->absDirection.apply (direction);
-  Vector orthDirection (0.0, 0.0, 1.0);
+  //Vector orthDirection (0.0, 0.0, 1.0);
   //orthDirection = orthDirection.cross (direction);
 
-  if( this->bUp)
-    accel = accel+(direction*acceleration);
-  if( this->bDown)
-    accel = accel -(direction*acceleration);
-  if( this->bLeft)
-    accel = accel - (orthDirection*acceleration); 
-  if( this->bRight)
-    accel = accel + (orthDirection*acceleration);
+   Quaternion q = this->getAbsDir();
+   Vector direction(1,0,0);
+   direction = q.apply(direction);
 
-  Vector move = accel * time;
-  this->shiftCoor (move);
+   
 
-  Quaternion q1(M_PI/4 * this->pitch/400.0, Vector(1,0,0));
-  this->shiftDir(q1);
+   Vector orthDirection(0,0,1);
+   orthDirection = q.apply(orthDirection);
+   
+   if( this->bUp)
+     accel = accel+(direction*acceleration);
+   if( this->bDown)
+     accel = accel -(direction*acceleration);
+   if( this->bLeft)
+     accel = accel - (orthDirection*acceleration); 
+   if( this->bRight)
+     accel = accel + (orthDirection*acceleration);
+   
+   Vector move = accel * time;
+   this->shiftCoor (move);
+   
+   Quaternion q1(-M_PI/4 * this->roll/40000.0, Vector(0,0,1));
+   Quaternion q2(-M_PI/4 * this->pitch/30000.0, Vector(0,1,0));
+   //this->shiftDir(q1*q2);
+   this->shiftDir(q1*q2);
 }
 
@@ -108 +119 @@
   else if( event.type == EV_MOUSE_MOTION)
     {
-      PRINTF(0)("Mouse moved by %d,%d to (%d,%d)\n", event.xRel, event.yRel,
-            event.x, event.y);
       this->pitch = event.x - 400;
       this->roll = event.y - 300;