Thyrix Documentation

00001 // Pac.cpp: implementation of the Pac class.
00002 //
00004 
00005 #include "Pac.h"
00006 #include "Circle.h"
00007 
00009 // Construction/Destruction
00011 
00012 Pac::Pac(real x0, real y0) : controller(0,5){
00013  int i;
00014  nCircles=11;
00015  rPac=0.4;
00016  u=2*M_PI/nCircles;
00017  u0=u/2;
00018  Circle* c;
00019  for(i=0;i<nCircles;i++){
00020    c=new Circle(0.1,x0+rPac*cos(u0+i*u),y0+rPac*sin(u0+i*u));
00021    c->setColor(Color("slateGray"));
00022    addObject(c);
00023  }
00024  real k=3;
00025  for(i=0;i<nCircles;i++){
00026    links.push_back(ElasticLink(objects[index(i-1)],objects[i],2*rPac*sin(u/2),k));
00027    links.push_back(ElasticLink(objects[index(i-2)],objects[i],2*rPac*sin(u),k));
00028    links.push_back(ElasticLink(objects[index(i-3)],objects[i],2*rPac*sin(3*u/2),k));
00029    links.push_back(ElasticLink(objects[index(i-4)],objects[i],2*rPac*sin(2*u),k));
00030  }
00031  activeLink=&(*(links.begin()));
00032  activeLink->k=4*k;
00033  l=2*rPac*sin(u/2);
00034  label="Pac";
00035 }
00036 
00037 Pac::~Pac(){
00038 
00039 }
00040 
00041 void Pac::controll(){
00042    activeLink->length=l*(1+2*controller.getOutput(0));
00043    real thrust=controller.getOutput(1)*0.5;
00044    Vector2 n=objects[0]->r;
00045    n-=objects[nCircles-1]->r;
00046    n.normalize();
00047    n.rotate(-M_PI/2);
00048    Vector2 force=n;
00049    force*=thrust;
00050    PhysicalObjectPVector::iterator it, end=objects.end();
00051    for(it=objects.begin(); it!=end; ++it){
00052       (*it)->externalForce+=force;
00053    }
00054    real rotation=(controller.getOutput(2)-controller.getOutput(3))*0.5;
00055    n*=rotation;
00056    n.rotate(M_PI/2+u0);
00057    for(it=objects.begin(); it!=end; ++it){
00058       (*it)->externalForce+=n;
00059       n.rotate(u);
00060    }
00061    
00062 
00063    controller.advanceTime();
00064 }