Changeset 167 in flair-src for trunk/lib/FlairSimulator/src/X4.cpp

Timestamp:

04/12/17 13:59:38 (7 years ago)

Author:

Sanahuja Guillaume

Message:

modifs pour template vectors

File:

• trunk/lib/FlairSimulator/src/X4.cpp (modified) (2 diffs)

trunk/lib/FlairSimulator/src/X4.cpp

@@ -282 +282 @@
   u_thrust = k_mot->Value() * (fl_speed * fl_speed + fr_speed * fr_speed +
                                rl_speed * rl_speed + rr_speed * rr_speed);
-  Vector3D vect(0, 0, -u_thrust);
+  Vector3D<double> vect(0, 0, -u_thrust);
   vect.Rotate(state[0].Quat);
 
@@ -291 +291 @@
       ** ===================================================================
       */
+      
   state[0].Pos.x =
       (dT() * dT() / m->Value()) *
-          (vect.x -
-           f_air_lat->Value() * (state[-1].Pos.x - state[-2].Pos.x) / dT()) +
+          (vect.x - f_air_lat->Value() * (state[-1].Pos.x - state[-2].Pos.x) / dT()) +
       2 * state[-1].Pos.x - state[-2].Pos.x;
   state[0].Vel.x = (state[0].Pos.x - state[-1].Pos.x) / dT();
-
+ 
   /*
   ** ===================================================================