[Csp-commits] svn:csp r1375 - in trunk/CSP/CSPSim: . Include Source

[<sv...@ww...>]

Author: mkrose
Date: 2004-12-13 00:48:48 -0800 (Mon, 13 Dec 2004)
New Revision: 1375

Modified:
   trunk/CSP/CSPSim/CHANGES.current
   trunk/CSP/CSPSim/Include/Controller.h
   trunk/CSP/CSPSim/Source/Controller.cpp
Log:
Improve animations for control surfaces of remote vehicles by
interpolating positions.

Browse at: https://www.zerobar.net/viewcvs/viewcvs.cgi?view=rev&rev=1375

Modified: trunk/CSP/CSPSim/CHANGES.current
===================================================================
--- trunk/CSP/CSPSim/CHANGES.current	2004-12-13 08:17:13 UTC (rev 1374)
+++ trunk/CSP/CSPSim/CHANGES.current	2004-12-13 08:48:48 UTC (rev 1375)
@@ -21,6 +21,9 @@
   * Add vehicle acceleration to the bus, and display G-force on the
     screen.
 
+  * Improve animations for control surfaces of remote vehicles by
+    interpolating positions.
+
 2004-12-05: delta
   * Updated CSPSim.vcproj, added SimNet to the build, cleaned up
     source and header directories and added a custom build step on

Modified: trunk/CSP/CSPSim/Include/Controller.h
===================================================================
--- trunk/CSP/CSPSim/Include/Controller.h	2004-12-13 08:17:13 UTC (rev 1374)
+++ trunk/CSP/CSPSim/Include/Controller.h	2004-12-13 08:48:48 UTC (rev 1375)
@@ -35,19 +35,30 @@
 namespace simnet { class NetworkMessage; }
 
 
-class AnimationUpdate {
+class RemoteAnimationUpdate {
 	DataChannel<double>::CRef m_Channel;
 	simdata::uint8 m_LastValue;
 
 public:
-	AnimationUpdate(): m_LastValue(0) { }
+	RemoteAnimationUpdate(): m_LastValue(0) { }
 	void bind(DataChannel<double>::CRef const &channel) { m_Channel = channel; }
 	bool update();
 	inline simdata::uint8 value() const { return m_LastValue; }
 	inline static double convert(simdata::uint8 value);
 };
 
+class LocalAnimationUpdate {
+	DataChannel<double>::Ref m_Channel;
+	double m_Target;
 
+public:
+	LocalAnimationUpdate(): m_Target(0) { }
+	void bind(DataChannel<double>::Ref const &channel) { m_Channel = channel; }
+	void setTarget(simdata::uint8 value);
+	void update(double dt);
+};
+
+
 /** Interface for controlling remote copies of an object.
  */
 class RemoteController: public System {
@@ -55,11 +66,11 @@
 	DataChannel<simdata::Vector3>::CRef b_Velocity;
 	DataChannel<simdata::Vector3>::CRef b_AngularVelocity;
 	DataChannel<simdata::Quat>::CRef b_Attitude;
-	AnimationUpdate m_GearExtension;
-	AnimationUpdate m_AileronDeflection;
-	AnimationUpdate m_ElevatorDeflection;
-	AnimationUpdate m_RudderDeflection;
-	AnimationUpdate m_AirbrakeDeflection;
+	RemoteAnimationUpdate m_GearExtension;
+	RemoteAnimationUpdate m_AileronDeflection;
+	RemoteAnimationUpdate m_ElevatorDeflection;
+	RemoteAnimationUpdate m_RudderDeflection;
+	RemoteAnimationUpdate m_AirbrakeDeflection;
 	int m_UpdateDelay;
 
 protected:
@@ -92,6 +103,12 @@
 	DataChannel<double>::Ref b_ElevatorDeflection;
 	DataChannel<double>::Ref b_RudderDeflection;
 	DataChannel<double>::Ref b_AirbrakeDeflection;
+	LocalAnimationUpdate m_GearExtension;
+	LocalAnimationUpdate m_AileronDeflection;
+	LocalAnimationUpdate m_ElevatorDeflection;
+	LocalAnimationUpdate m_RudderDeflection;
+	LocalAnimationUpdate m_AirbrakeDeflection;
+
 	// dynamic properties
 	DataChannel<simdata::Vector3>::Ref b_Position;
 	DataChannel<simdata::Vector3>::Ref b_Velocity;

Modified: trunk/CSP/CSPSim/Source/Controller.cpp
===================================================================
--- trunk/CSP/CSPSim/Source/Controller.cpp	2004-12-13 08:17:13 UTC (rev 1374)
+++ trunk/CSP/CSPSim/Source/Controller.cpp	2004-12-13 08:48:48 UTC (rev 1375)
@@ -55,7 +55,7 @@
 	m_AirbrakeDeflection.bind(bus->getChannel("ControlSurfaces.AirbrakeDeflection"));
 }
 
-bool AnimationUpdate::update() {
+bool RemoteAnimationUpdate::update() {
 	if (m_Channel.valid()) {
 		simdata::uint8 x = static_cast<simdata::uint8>(100.0 * m_Channel->value() + 128);
 		if (x != m_LastValue) {
@@ -66,9 +66,20 @@
 	return false;
 }
 
-inline double AnimationUpdate::convert(simdata::uint8 x) { return 0.01 * (static_cast<double>(x) - 128.0); }
+void LocalAnimationUpdate::setTarget(simdata::uint8 value) {
+	m_Target = 0.01 * (static_cast<double>(value) - 128.0);
+}
 
+void LocalAnimationUpdate::update(double dt) {
+	double value = m_Channel->value();
+	if (value < m_Target - 0.001) {
+		m_Channel->value() = std::min(value + 1.0 * dt, m_Target);  // ~60 deg/sec
+	} else if (value > m_Target + 0.001) {
+		m_Channel->value() = std::max(value - 1.0 * dt, m_Target);  // ~60 deg/sec
+	}
+}
 
+
 simdata::Ref<simnet::NetworkMessage> RemoteController::getUpdate(simcore::TimeStamp current_timestamp, simdata::SimTime interval, int detail) {
 	// TODO (in subclass) compare interval to current_timestamp - last_timestamp to decide if
 	// we need to generate a new message.  better, need to find a simple way to cache the
@@ -160,6 +171,11 @@
 	b_Velocity = bus->getSharedChannel(bus::Kinetics::Velocity, true, true);
 	b_AngularVelocity = bus->getSharedChannel(bus::Kinetics::AngularVelocity, true, true);
 	b_Attitude = bus->getSharedChannel(bus::Kinetics::Attitude, true, true);
+	m_GearExtension.bind(b_GearExtension);
+	m_AileronDeflection.bind(b_AileronDeflection);
+	m_ElevatorDeflection.bind(b_ElevatorDeflection);
+	m_RudderDeflection.bind(b_RudderDeflection);
+	m_AirbrakeDeflection.bind(b_AirbrakeDeflection);
 }
 
 bool LocalController::sequentialUpdate(simcore::TimeStamp stamp, simcore::TimeStamp now, simdata::SimTime &dt) {
@@ -201,16 +217,16 @@
 		setTargetPosition(update->position().Vector3() + m_TargetVelocity * dt);
 		b_GearExtension->value() = (update->gear_up() ? 0.0 : 1.0);
 		if (update->has_elevator_deflection()) {
-			b_ElevatorDeflection->value() = AnimationUpdate::convert(update->elevator_deflection());
+			m_ElevatorDeflection.setTarget(update->elevator_deflection());
 		}
 		if (update->has_airbrake_deflection()) {
-			b_AirbrakeDeflection->value() = AnimationUpdate::convert(update->airbrake_deflection());
+			m_AirbrakeDeflection.setTarget(update->airbrake_deflection());
 		}
 		if (update->has_aileron_deflection()) {
-			b_AileronDeflection->value() = AnimationUpdate::convert(update->aileron_deflection());
+			m_AileronDeflection.setTarget(update->aileron_deflection());
 		}
 		if (update->has_rudder_deflection()) {
-			b_RudderDeflection->value() = AnimationUpdate::convert(update->rudder_deflection());
+			m_RudderDeflection.setTarget(update->rudder_deflection());
 		}
 	} else {
 		CSP_LOG(OBJECT, INFO, "non sequential update: msg=" << update->timestamp() << " local=" << now);
@@ -242,6 +258,12 @@
 		if (f > 1.0) f = 1.0;
 		b_Attitude->value().slerp(f, b_Attitude->value(), m_TargetAttitude);
 	}
+	{
+		m_ElevatorDeflection.update(dt);
+		m_AirbrakeDeflection.update(dt);
+		m_AileronDeflection.update(dt);
+		m_RudderDeflection.update(dt);
+	}
 	return 0.0;
 }