Steer.cpp

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#include "Steer.h"
 
namespace dyno
{
    IMPLEMENT_TCLASS(Steer, TDataType);
 
    template<typename TDataType>
    Steer<TDataType>::Steer()
        : KeyboardInputModule()
    {
 
    }
 
    template<typename TDataType>
    void Steer<TDataType>::onEvent(PKeyboardEvent event)
    {
        auto quat = this->inQuaternion()->getData();
 
        Coord vel = this->inVelocity()->getData();
 
        Coord omega = this->inAngularVelocity()->getData();
 
        Matrix rot = quat.toMatrix3x3();
 
        Coord vel_prime = rot.transpose() * vel;
        Coord omega_prime = rot.transpose() * omega;
 
        switch (event.key)
        {
        case PKeyboardType::PKEY_W:
            vel_prime[2] += 0.5f;
            vel_prime[2] = vel_prime[2] > 5.0 ? 5.0 : vel_prime[2];
            vel_prime[2] = vel_prime[2] < -5.0 ? -5.0 : vel_prime[2];
            break;
        case PKeyboardType::PKEY_S:
            vel_prime[2] *= 0.95f;
            break;
        case PKeyboardType::PKEY_A:
            omega_prime.y += 0.5;
            break;
        case PKeyboardType::PKEY_D:
            omega_prime.y -= 0.5;
            break;
        default:
            break;
        }
 
        this->inVelocity()->setValue(rot * vel_prime);
        this->inAngularVelocity()->setValue(rot * omega_prime);
    }
    
    DEFINE_CLASS(Steer);
}