Changeset 339 in flair-src for trunk/lib/FlairSimulator/src/X4.cpp

Timestamp:

11/28/19 08:59:49 (4 years ago)

Author:

Sanahuja Guillaume

Message:

allow all blade rotations

File:

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

trunk/lib/FlairSimulator/src/X4.cpp

@@ -124 +124 @@
 
   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));
 
@@ -136 +136 @@
 void X4::AnimateModel(void) {
   motor_speed_mutex->GetMutex();
-  fl_blade->SetRotationSpeed(K_MOT * motor_speed[0]);
-  fr_blade->SetRotationSpeed(-K_MOT * motor_speed[1]);
-  rl_blade->SetRotationSpeed(-K_MOT * motor_speed[2]);
-  rr_blade->SetRotationSpeed(K_MOT * motor_speed[3]);
+  fl_blade->SetRotationSpeed(K_MOT *vector3df(0, 0, motor_speed[0]));
+  fr_blade->SetRotationSpeed(-K_MOT *vector3df(0, 0, motor_speed[1]));
+  rl_blade->SetRotationSpeed(-K_MOT *vector3df(0, 0, motor_speed[2]));
+  rr_blade->SetRotationSpeed(K_MOT *vector3df(0, 0, motor_speed[3]));
   motor_speed_mutex->ReleaseMutex();