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Updated WalkView: Added a "class" for conditional constraints.

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This commit is contained in:
Anders Gidenstam 2010-11-03 20:35:06 +01:00
parent aa8d6cc0b7
commit 03e25d91cd
1 changed files with 41 additions and 8 deletions
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43
Aircraft/Generic/WalkView/walkview.nas
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@ -107,6 +107,7 @@ var active_walker = func {
var Walker = {
new : func (view_name, constraints = nil, managers = nil) {
var obj = { parents : [Walker] };
obj.view_name = view_name;
obj.view = view.views[view.indexof(view_name)];
obj.constraints = constraints;
obj.managers = managers;
@ -180,18 +181,27 @@ var Walker = {
var cur = props.globals.getNode("/sim/current-view");
me.heading = cur.getNode("heading-offset-deg").getValue();
me.position[0] -=
var new_pos =
[me.position[0] -
me.speed_fwd * dt * math.cos(me.heading * TO_RAD) +
me.speed_side * dt * math.sin(me.heading * TO_RAD);
me.position[1] -=
me.speed_side * dt * math.sin(me.heading * TO_RAD),
me.position[1] -
me.speed_fwd * dt * math.sin(me.heading * TO_RAD) -
me.speed_side * dt * math.cos(me.heading * TO_RAD);
me.speed_side * dt * math.cos(me.heading * TO_RAD),
me.position[2]];
var cur_height = me.position[2];
if (me.constraints != nil) {
me.position = me.constraints.constrain(me.position);
new_pos = me.constraints.constrain(new_pos);
if (new_pos == NO_POS) {
printlog("warn",
"WalkView: Constraint for " ~ me.view_name ~
" returned NO_POS.");
} else {
me.position = new_pos;
me.goal_height = me.position[2] + me.eye_height;
}
}
# Change the view height smoothly
if (math.abs(me.goal_height - cur_height) > 2.0 * dt) {
me.position[2] =
@ -399,6 +409,27 @@ var ActionConstraint = {
}
};
# Conditional constraint
# The area is only available when the predicate function returns true.
# constraint - the area in question : constraint
# predicate() - boolean function that determines if the area is available.
var ConditionalConstraint = {
new : func (constraint, predicate = nil) {
var obj = { parents : [ConditionalConstraint] };
obj.constraint = constraint;
obj.predicate = predicate;
return obj;
},
constrain : func (pos) {
if (me.predicate == nil or me.predicate()) {
return me.constraint.constrain(pos);
} else {
return NO_POS;
}
}
};
###############################################################################
# Manager classes.
@ -443,6 +474,8 @@ var JSBSimPointmass = {
var TO_RAD = math.pi/180;
var TO_DEG = 180/math.pi;
var NO_POS = [-9999.0, -9999.0, -9999.0];
var walkers = {};
var closerXY = func (pos, p1, p2) {