app/src/Aircraft.cpp - master - wmigor/z-plane

app/src/Aircraft.cpp
74 строки2 KB
wmigor
сохранение/загрузка
8 часов назад
8 часов назад81be381
#include "Aircraft.h"
#include "Wheel.h"
#include <osg/MatrixTransform>
#include <osg/Camera>
#include "converters.h"

Aircraft::Aircraft(asim::AircraftPhysics* physics): _physics(physics)
{
	_body = new RigidBody();
	_body->setMass(_physics->mass);
	_body->setInertia(_physics->inertia);
	_body->setMassCenter(_physics->massCenter);

	for (const auto &wheel : physics->getWheels())
	{
		::Wheel::Config config;
		config.position = wheel.position;
		config.radius = wheel.radius;
		config.maxAngle = wheel.maxAngle;
		config.stiffness = 60000.0;
		config.damping = 6000.0;
		_body->addForce(new ::Wheel(&input, config));
	}

	for (auto wing : _physics->getWings())
	{
		const auto &sections = wing->getSections();
		if (sections.empty())
			continue;

		const auto &section = sections[sections.size() - 1];
		auto point = section.getPosition(1.0);
		_body->addContactPoint(point, 0.1);
		if (section.mirror)
			_body->addContactPoint(glm::reflect(point, asim::Constants::Right), 0.1);
	}

	for (auto thruster : _physics->getThrusters())
		_body->addContactPoint(thruster->position, 0.1);
}

Aircraft::~Aircraft()
{
	delete _physics;
}

void Aircraft::update(double delta)
{
	auto rotation = _body->rotation;
	auto localMassCenter = _body->getMassCenter();
	auto density = 1.225;

	auto wrench = _physics->calculate(delta, input, _body->linearVelocity, _body->angularVelocity, localMassCenter, rotation, density);

	_body->applyForce(wrench.force);
	_body->applyTorque(wrench.torque);
	_body->update(delta);
}

void Aircraft::operator()(osg::Node *node, osg::NodeVisitor *nv)
{
	auto transform = dynamic_cast<osg::MatrixTransform *>(node);
	if (transform == NULL)
	{
		traverse(node, nv);
		return;
	}

	osg::Matrix matrix;
	matrix.setRotate(toQuat(_body->rotation));
	matrix.setTrans(toVec3(_body->position));
	transform->setMatrix(matrix);
	traverse(node, nv);
}