Changeset 339 in flair-src for trunk/lib/FlairSimulator/src/UavVrpnObject_impl.cpp

Timestamp:

Nov 28, 2019, 8:59:49 AM (5 years ago)

Author:

Sanahuja Guillaume

Message:

allow all blade rotations

File:

• trunk/lib/FlairSimulator/src/UavVrpnObject_impl.cpp (modified) (1 diff)

trunk/lib/FlairSimulator/src/UavVrpnObject_impl.cpp

@@ -150 +150 @@
 
   fl_blade = new Blade(this, vector3df(70.71, -70.71, 17.5));
-  fr_blade = new Blade(this, vector3df(70.71, 70.71, 17.5), true);
-  rl_blade = new Blade(this, vector3df(-70.71, -70.71, 17.5), true);
+  fr_blade = new Blade(this, vector3df(70.71, 70.71, 17.5),  vector3df(0, 0, 0),true);
+  rl_blade = new Blade(this, vector3df(-70.71, -70.71, 17.5),  vector3df(0, 0, 0),true);
   rr_blade = new Blade(this, vector3df(-70.71, 70.71, 17.5));
   
-  fl_blade->SetRotationSpeed(MOTOR_SPEED);
-  fr_blade->SetRotationSpeed(-MOTOR_SPEED);
-  rl_blade->SetRotationSpeed(-MOTOR_SPEED);
-  rr_blade->SetRotationSpeed(MOTOR_SPEED);
+  fl_blade->SetRotationSpeed(vector3df(0, 0,MOTOR_SPEED));
+  fr_blade->SetRotationSpeed(vector3df(0, 0,-MOTOR_SPEED));
+  rl_blade->SetRotationSpeed(vector3df(0, 0,-MOTOR_SPEED));
+  rr_blade->SetRotationSpeed(vector3df(0, 0,MOTOR_SPEED));
   
   setScale(vector3df(arm_length->Value(), arm_length->Value(), arm_length->Value()));