70 lines
1.2 KiB
C++
70 lines
1.2 KiB
C++
|
// gyro.cxx - simple implementation of a spinning gyro model.
|
||
|
|
|
||
|
|
#include "gyro.hxx"
|
||
|
|
|
||
|
|
Gyro::Gyro ()
|
||
|
|
: _serviceable(true),
|
||
|
|
_power_norm(0.0),
|
||
|
|
_spin_norm(0.0)
|
||
|
|
{
|
||
|
|
}
|
||
|
|
|
||
|
|
Gyro::~Gyro ()
|
||
|
|
{
|
||
|
|
}
|
||
|
|
|
||
|
|
void
|
||
|
|
Gyro::update (double delta_time_sec)
|
||
|
|
{
|
||
|
|
// spin decays 0.5% every second
|
||
|
|
_spin_norm -= 0.005 * delta_time_sec;
|
||
|
|
|
||
|
|
// power can increase spin by 25%
|
||
|
|
// every second, but only up to the
|
||
|
|
// level of power available
|
||
|
|
if (_serviceable) {
|
||
|
|
double step = 0.25 * _power_norm * delta_time_sec;
|
||
|
|
if ((_spin_norm + step) <= _power_norm)
|
||
|
|
_spin_norm += step;
|
||
|
|
}
|
||
|
|
|
||
|
|
// clamp the spin to 0.0:1.0
|
||
|
|
if (_spin_norm < 0.0)
|
||
|
|
_spin_norm = 0.0;
|
||
|
|
else if (_spin_norm > 1.0)
|
||
|
|
_spin_norm = 1.0;
|
||
|
|
}
|
||
|
|
|
||
|
|
void
|
||
|
|
Gyro::set_power_norm (double power_norm)
|
||
|
|
{
|
||
|
|
_power_norm = power_norm;
|
||
|
|
}
|
||
|
|
|
||
|
|
double
|
||
|
|
Gyro::get_spin_norm () const
|
||
|
|
{
|
||
|
|
return _spin_norm;
|
||
|
|
}
|
||
|
|
|
||
|
|
void
|
||
|
|
Gyro::set_spin_norm (double spin_norm)
|
||
|
|
{
|
||
|
|
_spin_norm = spin_norm;
|
||
|
|
}
|
||
|
|
|
||
|
|
bool
|
||
|
|
Gyro::is_serviceable () const
|
||
|
|
{
|
||
|
|
return _serviceable;
|
||
|
|
}
|
||
|
|
|
||
|
|
void
|
||
|
|
Gyro::set_serviceable (bool serviceable)
|
||
|
|
{
|
||
|
|
_serviceable = serviceable;
|
||
|
|
}
|
||
|
|
|
||
|
|
// end of gyro.cxx
|
||
|
|
|