CarDriver.cpp

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#include "CarDriver.h"
 
namespace dyno
{
    IMPLEMENT_TCLASS(CarDriver, TDataType);
 
    template<typename TDataType>
    CarDriver<TDataType>::CarDriver()
        : KeyboardInputModule()
    {
 
 
    }
 
    template<typename TDataType>
    void CarDriver<TDataType>::onEvent(PKeyboardEvent event)
    {
    
        Real epsilonAngle = M_PI / 360;
        auto topo = TypeInfo::cast<DiscreteElements<DataType3f>>(this->inTopology()->getDataPtr());
 
        auto& d_hinge = topo->hingeJoints();
        CArray<HingeJoint> c_hinge;
        c_hinge.assign(d_hinge);
        
 
        switch (event.key)
        {
        case PKeyboardType::PKEY_W:
 
            speed += 2.5;
            if (speed >= 30)
                speed = 30;
            for (size_t i = 0; i < 4; i++)
            {
                c_hinge[i].setMoter(speed);
            }
            d_hinge.assign(c_hinge);
 
            break;
        case PKeyboardType::PKEY_S:
 
            speed -= 2.5;
            if (speed <= -10)
                speed = -10;
            for (size_t i = 0; i < 4; i++)
            {
                c_hinge[i].setMoter(speed);
            }
            d_hinge.assign(c_hinge);
 
            break;
        case PKeyboardType::PKEY_A:
            for (size_t i = 4; i < 6; i++)
            {
                if(angle <= M_PI/12)
                    angle += M_PI / 60;
                c_hinge[i].setRange(angle, angle + epsilonAngle);
            }
            d_hinge.assign(c_hinge);
            break;
        case PKeyboardType::PKEY_D:
            for (size_t i = 4; i < 6; i++)
            {
                if(angle >= -M_PI/12)
                    angle -= M_PI / 60;
                c_hinge[i].setRange(angle, angle + epsilonAngle);
            }
            d_hinge.assign(c_hinge);
            break;
        case PKeyboardType::PKEY_Q:
            for (size_t i = 4; i < 6; i++)
            {
                angle = 0.0f;
                c_hinge[i].setRange(angle, angle + epsilonAngle);
            }
            d_hinge.assign(c_hinge);
            break;
 
        case PKeyboardType::PKEY_E:
            speed = 0;
            for (size_t i = 0; i < 4; i++)
            {
                c_hinge[i].setMoter(speed);
            }
            d_hinge.assign(c_hinge);
            break;
        default:
            break;
        }
 
    }
    
    DEFINE_CLASS(CarDriver);
}