Changeset 339 in flair-src for trunk/lib/FlairSimulator/src/X8.cpp

Timestamp:

11/28/19 08:59:49 (3 years ago)

Author:

Sanahuja Guillaume

Message:

allow all blade rotations

File:

• trunk/lib/FlairSimulator/src/X8.cpp (modified) (2 diffs)

trunk/lib/FlairSimulator/src/X8.cpp

@@ -137 +137 @@
 
   tfl_blade = new Blade(this, vector3df(70.71, -70.71, 17.5));
-  tfr_blade = new Blade(this, vector3df(70.71, 70.71, 17.5), true);
-  trl_blade = new Blade(this, vector3df(-70.71, -70.71, 17.5), true);
+  tfr_blade = new Blade(this, vector3df(70.71, 70.71, 17.5), vector3df(0, 0, 0), true);
+  trl_blade = new Blade(this, vector3df(-70.71, -70.71, 17.5), vector3df(0, 0, 0), true);
   trr_blade = new Blade(this, vector3df(-70.71, 70.71, 17.5));
 
   bfl_blade = new Blade(this, vector3df(70.71, -70.71, -17.5));
-  bfr_blade = new Blade(this, vector3df(70.71, 70.71, -17.5), true);
-  brl_blade = new Blade(this, vector3df(-70.71, -70.71, -17.5), true);
+  bfr_blade = new Blade(this, vector3df(70.71, 70.71, -17.5), vector3df(0, 0, 0), true);
+  brl_blade = new Blade(this, vector3df(-70.71, -70.71, -17.5),  vector3df(0, 0, 0),true);
   brr_blade = new Blade(this, vector3df(-70.71, 70.71, -17.5));
 
@@ -161 +161 @@
 void X8::AnimateModel(void) {
   motor_speed_mutex->GetMutex();
-  tfl_blade->SetRotationSpeed(K_MOT * motor_speed[0]);
-  tfr_blade->SetRotationSpeed(-K_MOT * motor_speed[1]);
-  trl_blade->SetRotationSpeed(-K_MOT * motor_speed[2]);
-  trr_blade->SetRotationSpeed(K_MOT * motor_speed[3]);
-
-  bfl_blade->SetRotationSpeed(-K_MOT * motor_speed[4]);
-  bfr_blade->SetRotationSpeed(K_MOT * motor_speed[5]);
-  brl_blade->SetRotationSpeed(K_MOT * motor_speed[6]);
-  brr_blade->SetRotationSpeed(-K_MOT * motor_speed[7]);
+  tfl_blade->SetRotationSpeed(K_MOT * vector3df(0, 0,motor_speed[0]));
+  tfr_blade->SetRotationSpeed(-K_MOT * vector3df(0, 0,motor_speed[1]));
+  trl_blade->SetRotationSpeed(-K_MOT * vector3df(0, 0,motor_speed[2]));
+  trr_blade->SetRotationSpeed(K_MOT * vector3df(0, 0,motor_speed[3]));
+
+  bfl_blade->SetRotationSpeed(-K_MOT * vector3df(0, 0,motor_speed[4]));
+  bfr_blade->SetRotationSpeed(K_MOT * vector3df(0, 0,motor_speed[5]));
+  brl_blade->SetRotationSpeed(K_MOT * vector3df(0, 0,motor_speed[6]));
+  brr_blade->SetRotationSpeed(-K_MOT * vector3df(0, 0,motor_speed[7]));
   motor_speed_mutex->ReleaseMutex();