36 lines
1021 B
C
36 lines
1021 B
C
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#include "control.h"
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#include <math.h>
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#define LATENCY 20
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static double fixdir(double a) {
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if (a < 0) a += 360;
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else if (a > 360) a -= 360;
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return a;
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}
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void simulate(trial *t) {
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double move, angle;
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timestamp now = getcurts(t) + LATENCY, diff = now - t->sim.ts;
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if (diff < 20) return;
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/* move = t->sim.vehicle.speed / 1000 * diff;
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angle = t->sim.vehicle.dir*M_PI/180;
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t->sim.vehicle.x += cos(angle)*move;
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t->sim.vehicle.y += sin(angle)*move;*/
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/* switch (t->sim.vehicle.turn) {
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case TURN_HARD_LEFT : t->sim.vehicle.dir = fixdir(t->sim.vehicle.dir + t->map.max_hard_turn); break;
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case TURN_LEFT : t->sim.vehicle.dir = fixdir(t->sim.vehicle.dir + t->map.max_turn); break;
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case TURN_STRAIGHT : break;
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case TURN_RIGHT : t->sim.vehicle.dir = fixdir(t->sim.vehicle.dir - t->map.max_turn); break;
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case TURN_HARD_RIGHT: t->sim.vehicle.dir = fixdir(t->sim.vehicle.dir - t->map.max_hard_turn); break;
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}
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t->sim.vehicle.accel = t->vehicle.accel;
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t->sim.vehicle.turn = t->vehicle.turn;*/
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}
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