77 lines
1.4 KiB
C++
77 lines
1.4 KiB
C++
// gyro.cxx - simple implementation of a spinning gyro model.
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#include "gyro.hxx"
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Gyro::Gyro ()
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: _serviceable(true),
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_power_norm(0.0),
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_spin_norm(0.0)
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{
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}
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Gyro::~Gyro ()
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{
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}
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void Gyro::reinit(void)
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{
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_power_norm = 0.0;
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_spin_norm = 0.0;
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}
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void
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Gyro::update (double delta_time_sec)
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{
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// spin decays 0.5% every second
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_spin_norm -= 0.005 * delta_time_sec;
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// power can increase spin by 25%
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// every second, but only up to the
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// level of power available
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if (_serviceable) {
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double step = 0.25 * _power_norm * delta_time_sec;
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if ((_spin_norm + step) <= _power_norm)
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_spin_norm += step;
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} else {
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_spin_norm = 0; // stop right away if the gyro breaks
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}
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// clamp the spin to 0.0:1.0
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if (_spin_norm < 0.0)
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_spin_norm = 0.0;
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else if (_spin_norm > 1.0)
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_spin_norm = 1.0;
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}
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void
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Gyro::set_power_norm (double power_norm)
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{
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_power_norm = power_norm;
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}
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double
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Gyro::get_spin_norm () const
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{
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return _spin_norm;
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}
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void
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Gyro::set_spin_norm (double spin_norm)
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{
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_spin_norm = spin_norm;
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}
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bool
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Gyro::is_serviceable () const
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{
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return _serviceable;
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}
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void
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Gyro::set_serviceable (bool serviceable)
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{
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_serviceable = serviceable;
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}
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// end of gyro.cxx
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