Changeset 361 in flair-src for trunk/lib/FlairSimulator

Timestamp:

Jun 8, 2020, 11:52:29 AM (4 years ago)

Author:

Sanahuja Guillaume

Message:

add ball for Julio

Location:

trunk/lib/FlairSimulator/src

Files:

• Ball.cpp (added)
• Ball.h (added)
• Model.cpp (modified) (2 diffs)
• Model.h (modified) (1 diff)
• Model_impl.cpp (modified) (2 diffs)
• unexported/Model_impl.h (modified) (1 diff)

trunk/lib/FlairSimulator/src/Model.cpp

@@ -19 +19 @@
 #include "Simulator.h"
 #include <DoubleSpinBox.h>
+#include <Vector3DSpinBox.h>
 
 #ifdef GL
@@ -75 +76 @@
 }
 
+core::Vector3Df Model::InitialPosition(void) {
+    return pimpl_->pos_init->Value();
+}
+
 } // end namespace simulator
 } // end namespace flair

trunk/lib/FlairSimulator/src/Model.h

@@ -98 +98 @@
   double dT(void) const;
   virtual void CalcModel(void) = 0;
+  core::Vector3Df InitialPosition(void);
 #ifdef GL
   FollowMeCamera *getFollowMeCamera(void) const;

trunk/lib/FlairSimulator/src/Model_impl.cpp

@@ -239 +239 @@
     pos_rel = pos - nodePosition;
     // printf("collision %f %f %f\n",pos.X,pos.Y,pos.Z);
-    // printf("drone %f %f %f\n",nodePosition.X,nodePosition.Y,nodePosition.Z);
+    // printf("object %f %f %f\n",nodePosition.X,nodePosition.Y,nodePosition.Z);
     // printf("rel %f %f %f\n",pos_rel.X,pos_rel.Z,pos_rel.Y);
 
@@ -257 +257 @@
     self->state[-1].Pos = self->state[0].Pos;
     self->state[-2].Pos = self->state[0].Pos;
+    self->state[0].Vel=0;
+    self->state[-1].Vel=0;
+    self->state[-2].Vel=0;
     states_mutex->ReleaseMutex();
   }

trunk/lib/FlairSimulator/src/unexported/Model_impl.h

@@ -90 +90 @@
   flair::gui::DoubleSpinBox *dT;
   int modelId;
+  flair::gui::Vector3DSpinBox *pos_init;
 
 private:
-  flair::gui::Vector3DSpinBox *pos_init;
   flair::gui::SpinBox *yaw_init;
   flair::gui::CheckBox *enable_opti;