[simspark-svn] SF.net SVN: simspark:[193] trunk/spark/plugin/accelerometer/accelerometer. cpp

[<yx...@us...>]

Revision: 193
          http://simspark.svn.sourceforge.net/simspark/?rev=193&view=rev
Author:   yxu
Date:     2010-04-04 09:49:22 +0000 (Sun, 04 Apr 2010)

Log Message:
-----------
* initialize accelerometer
* remove the filter in accelerometer ( team can filter it by themselves)

Modified Paths:
--------------
    trunk/spark/plugin/accelerometer/accelerometer.cpp

Modified: trunk/spark/plugin/accelerometer/accelerometer.cpp
===================================================================
--- trunk/spark/plugin/accelerometer/accelerometer.cpp	2010-03-31 23:10:34 UTC (rev 192)
+++ trunk/spark/plugin/accelerometer/accelerometer.cpp	2010-04-04 09:49:22 UTC (rev 193)
@@ -48,6 +48,7 @@
 
     mGravity = mBody->GetWorld()->GetGravity();
     mLastVel = mBody->GetVelocity();
+    mAcc.Zero();
 }
 
 bool Accelerometer::Percept(boost::shared_ptr<PredicateList> predList)
@@ -75,15 +76,12 @@
 //    float mass = mBody->GetMass();
 //    mAcc = F / mass - mGravity;
 
+    // calculate the acceleration according to velocity, it is a bit noise
     Vector3f vel = mBody->GetVelocity();
     Vector3f acc = (vel - mLastVel) / deltaTime;
     acc -= mGravity;
 
     Matrix invRot = mBody->GetRotation();
     invRot.InvertRotationMatrix();
-    acc = invRot * acc;
-
-    float k = 0.9;
-    mAcc = k*mAcc + (1-k)*acc;
-    mLastVel = vel;
+    mAcc = invRot * acc;
 }


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