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<div class="title">Physical.cpp</div> </div>
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<a href="_physical_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/* Project nGenEx</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment"> Destroyer Studios LLC</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment"> Copyright © 1997-2004. All Rights Reserved.</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment"></span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment"> SUBSYSTEM: nGenEx.lib</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment"> FILE: Physical.cpp</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment"> AUTHOR: John DiCamillo</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment"></span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment"></span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment"> OVERVIEW</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment"> ========</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment"> Abstract Physical Object</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment">*/</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> </div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="preprocessor">#include "<a class="code" href="_mem_debug_8h.html">MemDebug.h</a>"</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="preprocessor">#include "<a class="code" href="_physical_8h.html">Physical.h</a>"</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="preprocessor">#include "<a class="code" href="_graphic_8h.html">Graphic.h</a>"</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="preprocessor">#include "<a class="code" href="_light_8h.html">Light.h</a>"</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="preprocessor">#include "<a class="code" href="_director_8h.html">Director.h</a>"</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> </div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment">// +--------------------------------------------------------------------+</span></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> </div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="keywordtype">int</span> <a class="code" href="class_physical.html#a004c339d5c06357c7973070a2f5f3c39">Physical::id_key</a> = 1;</div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="keywordtype">double</span> <a class="code" href="class_physical.html#a6c010dd6ce3e164d9698d47848b07227">Physical::sub_frame</a> = 1.0 / 60.0;</div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> </div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">double</span> GRAV = 6.673e-11;</div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> </div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment">// +--------------------------------------------------------------------+</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> </div>
<div class="line"><a name="l00030"></a><span class="lineno"><a class="code" href="class_physical.html#ac11a1bca87389886d9d8291fef41ad8c"> 30</a></span> <a class="code" href="class_physical.html#ac11a1bca87389886d9d8291fef41ad8c">Physical::Physical</a>()</div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> : id(id_key++), obj_type(0), rep(0), light(0),</div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> thrust(0.0f), drag(0.0f), lat_thrust(false),</div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> trans_x(0.0f), trans_y(0.0f), trans_z(0.0f), straight(false),</div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span> roll(0.0f), pitch(0.0f), yaw(0.0f), dr(0.0f), dp(0.0f), dy(0.0f),</div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> dr_acc(0.0f), dp_acc(0.0f), dy_acc(0.0f),</div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span> dr_drg(0.0f), dp_drg(0.0f), dy_drg(0.0f),</div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> flight_path_yaw(0.0f), flight_path_pitch(0.0f), primary_mass(0),</div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> roll_rate(1.0f), pitch_rate(1.0f), yaw_rate(1.0f), shake(0.0f),</div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> radius(0.0f), mass(1.0f), integrity(1.0f), life(-1), dir(0),</div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> g_accel(0.0f), Do(0.0f), CL(0.0f), CD(0.0f), alpha(0.0f), stall(0.0f)</div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> {</div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  strcpy_s(<a class="code" href="class_physical.html#a8494a16d51ebf60bba3961b2a9101b8d">name</a>, <span class="stringliteral">"unknown object"</span>);</div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> }</div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> </div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="comment">// +--------------------------------------------------------------------+</span></div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> </div>
<div class="line"><a name="l00047"></a><span class="lineno"><a class="code" href="class_physical.html#aad0f1cffb043f81488f6f24e9f8ef3fd"> 47</a></span> <a class="code" href="class_physical.html#ac11a1bca87389886d9d8291fef41ad8c">Physical::Physical</a>(<span class="keyword">const</span> <span class="keywordtype">char</span>* n, <span class="keywordtype">int</span> t)</div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span> : id(id_key++), obj_type(t), rep(0), light(0),</div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span> thrust(0.0f), drag(0.0f), lat_thrust(false),</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span> trans_x(0.0f), trans_y(0.0f), trans_z(0.0f), straight(false),</div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span> roll(0.0f), pitch(0.0f), yaw(0.0f), dr(0.0f), dp(0.0f), dy(0.0f),</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span> dr_acc(0.0f), dp_acc(0.0f), dy_acc(0.0f),</div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span> dr_drg(0.0f), dp_drg(0.0f), dy_drg(0.0f),</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span> flight_path_yaw(0.0f), flight_path_pitch(0.0f), primary_mass(0),</div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span> roll_rate(1.0f), pitch_rate(1.0f), yaw_rate(1.0f), shake(0.0f),</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span> radius(0.0f), mass(1.0f), integrity(1.0f), life(-1), dir(0),</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span> g_accel(0.0f), Do(0.0f), CL(0.0f), CD(0.0f), alpha(0.0f), stall(0.0f)</div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span> {</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  strncpy_s(<a class="code" href="class_physical.html#a8494a16d51ebf60bba3961b2a9101b8d">name</a>, n, <a class="code" href="class_physical.html#a0a2f00f99707710a99352755c456738da52a005a47cab0fb16fabf08151e16fd5">NAMELEN</a>-1);</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  <a class="code" href="class_physical.html#a8494a16d51ebf60bba3961b2a9101b8d">name</a>[<a class="code" href="class_physical.html#a0a2f00f99707710a99352755c456738da52a005a47cab0fb16fabf08151e16fd5">NAMELEN</a>-1] = 0;</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span> }</div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span> </div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span> <span class="comment">// +--------------------------------------------------------------------+</span></div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span> </div>
<div class="line"><a name="l00065"></a><span class="lineno"><a class="code" href="class_physical.html#a91cc6325d27fe86bddeab281c0ff068f"> 65</a></span> <a class="code" href="class_physical.html#a91cc6325d27fe86bddeab281c0ff068f">Physical::~Physical</a>()</div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span> {</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  <span class="comment">// inform graphic rep and light that we are leaving:</span></div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  <a class="code" href="_graphic_8h.html#a6cf60e4cf1961361db679c04b7a896ed">GRAPHIC_DESTROY</a>(<a class="code" href="class_physical.html#a3adbf31fe8d940401e6b12ccb275432e">rep</a>);</div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <a class="code" href="_light_8h.html#aa1876431b51b18616bae66610e0b1c69">LIGHT_DESTROY</a>(<a class="code" href="class_physical.html#afd7fa6ca59a6efa5c5bd465793da09a1">light</a>);</div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span> </div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <span class="comment">// we own the director</span></div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  <span class="keyword">delete</span> <a class="code" href="class_physical.html#a8ebe4e3afdd856a228135ce30bd9d704">dir</a>;</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  <a class="code" href="class_physical.html#a8ebe4e3afdd856a228135ce30bd9d704">dir</a> = 0;</div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span> }</div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span> </div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span> <span class="comment">// +--------------------------------------------------------------------+</span></div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span> </div>
<div class="line"><a name="l00078"></a><span class="lineno"><a class="code" href="_physical_8cpp.html#a7ba5ae854b32f4fd9f36f8dac1a27fdc"> 78</a></span> <span class="keyword">inline</span> <span class="keywordtype">double</span> <a class="code" href="_physical_8cpp.html#a7ba5ae854b32f4fd9f36f8dac1a27fdc">random</a>() { <span class="keywordflow">return</span> rand()-16384; }</div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span> </div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00081"></a><span class="lineno"><a class="code" href="class_physical.html#a51b1a250980dc6169758c0cbe0dae533"> 81</a></span> <a class="code" href="class_physical.html#a51b1a250980dc6169758c0cbe0dae533">Physical::ExecFrame</a>(<span class="keywordtype">double</span> s)</div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span> {</div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  <a class="code" href="struct_point.html">Point</a> orig_velocity = <a class="code" href="class_physical.html#a60c5e5f05f780f8accae363e9748131c">Velocity</a>();</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  <a class="code" href="class_physical.html#aed93819206c4ca747edf57ba36e930e2">arcade_velocity</a> = <a class="code" href="struct_point.html">Point</a>();</div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span> </div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  <span class="comment">// if this object is under direction,</span></div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  <span class="comment">// but doesn't need subframe accuracy,</span></div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  <span class="comment">// update the control parameters:</span></div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  <span class="keywordflow">if</span> (<a class="code" href="class_physical.html#a8ebe4e3afdd856a228135ce30bd9d704">dir</a> && !<a class="code" href="class_physical.html#a8ebe4e3afdd856a228135ce30bd9d704">dir</a>-><a class="code" href="class_director.html#a85fd37d51bb29be50ad96a39c9557329">Subframe</a>())</div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  <a class="code" href="class_physical.html#a8ebe4e3afdd856a228135ce30bd9d704">dir</a>-><a class="code" href="class_director.html#ac4e89c6fafd80964ac8e44d5679279b8">ExecFrame</a>(s);</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span> </div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  <span class="comment">// decrement life before destroying the frame time:</span></div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  <span class="keywordflow">if</span> (<a class="code" href="class_physical.html#a6b8e2705ced511545378e49b14573fdc">life</a> > 0)</div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  <a class="code" href="class_physical.html#a6b8e2705ced511545378e49b14573fdc">life</a> -= s;</div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span> </div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  <span class="comment">// integrate equations</span></div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  <span class="comment">// using slices no larger</span></div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  <span class="comment">// than sub_frame:</span></div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span> </div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  <span class="keywordtype">double</span> seconds = s;</div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span> </div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  <span class="keywordflow">while</span> (s > 0.0) {</div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  <span class="keywordflow">if</span> (s > <a class="code" href="class_physical.html#a6c010dd6ce3e164d9698d47848b07227">sub_frame</a>)</div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  seconds = <a class="code" href="class_physical.html#a6c010dd6ce3e164d9698d47848b07227">sub_frame</a>;</div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  seconds = s;</div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span> </div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  <span class="comment">// if the director needs subframe accuracy, run it now:</span></div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  <span class="keywordflow">if</span> (<a class="code" href="class_physical.html#a8ebe4e3afdd856a228135ce30bd9d704">dir</a> && <a class="code" href="class_physical.html#a8ebe4e3afdd856a228135ce30bd9d704">dir</a>-><a class="code" href="class_director.html#a85fd37d51bb29be50ad96a39c9557329">Subframe</a>())</div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  <a class="code" href="class_physical.html#a8ebe4e3afdd856a228135ce30bd9d704">dir</a>-><a class="code" href="class_director.html#ac4e89c6fafd80964ac8e44d5679279b8">ExecFrame</a>(seconds);</div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span> </div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  <span class="keywordflow">if</span> (!<a class="code" href="class_physical.html#ad57f7c28a081079e6c3b1ecd1089e927">straight</a>)</div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  <a class="code" href="class_physical.html#a06d9391d5c0b3b32783a3b1f60f59e17">AngularFrame</a>(seconds);</div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span> </div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  <span class="comment">// LINEAR MOVEMENT ----------------------------</span></div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  <a class="code" href="struct_point.html">Point</a> pos = <a class="code" href="class_physical.html#ae6b6004183efe4ba25cace4fc3f2fd4d">cam</a>.<a class="code" href="class_camera.html#a2a54ce5f1212212653acafa59809ce49">Pos</a>();</div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span> </div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  <span class="comment">// if the object is thrusting,</span></div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  <span class="comment">// accelerate along the camera normal:</span></div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  <span class="keywordflow">if</span> (<a class="code" href="class_physical.html#ab4a9f94781e500cfc2e594d122b23927">thrust</a>) {</div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  <a class="code" href="struct_point.html">Point</a> thrustvec = <a class="code" href="class_physical.html#ae6b6004183efe4ba25cace4fc3f2fd4d">cam</a>.<a class="code" href="class_camera.html#a6767fa21da7413fe049cf64eed98f02f">vpn</a>();</div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  thrustvec *= ((<a class="code" href="class_physical.html#ab4a9f94781e500cfc2e594d122b23927">thrust</a>/<a class="code" href="class_physical.html#a7c68f6e32d5725d6ae0099400f7c0b6e">mass</a>) * seconds);</div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  <a class="code" href="class_physical.html#a02b1afe5e027120d1e8dc445ee80143e">velocity</a> += thrustvec;</div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  }</div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span> </div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  <a class="code" href="class_physical.html#abf3689db9ce20a6cb3901ce8d5d10762">LinearFrame</a>(seconds);</div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span> </div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  <span class="comment">// move the position by the (time-frame scaled) velocity:</span></div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  pos += <a class="code" href="class_physical.html#a02b1afe5e027120d1e8dc445ee80143e">velocity</a> * seconds;</div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  <a class="code" href="class_physical.html#ae6b6004183efe4ba25cace4fc3f2fd4d">cam</a>.<a class="code" href="class_camera.html#a3c12e547329d78def633eca0c1ff81fb">MoveTo</a>(pos);</div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span> </div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  s -= seconds;</div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  }</div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span> </div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  <a class="code" href="class_physical.html#aef5c6056fc4474dee315086cc6a20ff5">alpha</a> = 0.0f;</div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span> </div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  <span class="comment">// now update the graphic rep and light sources:</span></div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  <span class="keywordflow">if</span> (<a class="code" href="class_physical.html#a3adbf31fe8d940401e6b12ccb275432e">rep</a>) {</div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  <a class="code" href="class_physical.html#a3adbf31fe8d940401e6b12ccb275432e">rep</a>-><a class="code" href="class_graphic.html#af8bec5b637e4925c65fb77d8234fb266">MoveTo</a>(<a class="code" href="class_physical.html#ae6b6004183efe4ba25cace4fc3f2fd4d">cam</a>.<a class="code" href="class_camera.html#a2a54ce5f1212212653acafa59809ce49">Pos</a>());</div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  <a class="code" href="class_physical.html#a3adbf31fe8d940401e6b12ccb275432e">rep</a>-><a class="code" href="class_graphic.html#a22f30bba82bd8b78293d7fc3cec4c80f">SetOrientation</a>(<a class="code" href="class_physical.html#ae6b6004183efe4ba25cace4fc3f2fd4d">cam</a>.<a class="code" href="class_camera.html#a6d34215f3a9eb4a163d0dfbac4a76dab">Orientation</a>());</div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  }</div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span> </div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  <span class="keywordflow">if</span> (<a class="code" href="class_physical.html#afd7fa6ca59a6efa5c5bd465793da09a1">light</a>) {</div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  <a class="code" href="class_physical.html#afd7fa6ca59a6efa5c5bd465793da09a1">light</a>-><a class="code" href="class_light.html#a2b5d22102dc029c87922646235d11b5d">MoveTo</a>(<a class="code" href="class_physical.html#ae6b6004183efe4ba25cace4fc3f2fd4d">cam</a>.<a class="code" href="class_camera.html#a2a54ce5f1212212653acafa59809ce49">Pos</a>());</div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  }</div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span> </div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  <span class="keywordflow">if</span> (!<a class="code" href="class_physical.html#ad57f7c28a081079e6c3b1ecd1089e927">straight</a>)</div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  <a class="code" href="class_physical.html#abe8b831faa85d7022f641209213e18d7">CalcFlightPath</a>();</div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span> </div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  <a class="code" href="class_physical.html#ae7dd31dfd66682e1048b5d540a9f02e9">accel</a> = (<a class="code" href="class_physical.html#a60c5e5f05f780f8accae363e9748131c">Velocity</a>() - orig_velocity) * (1/seconds);</div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  <span class="keywordflow">if</span> (!_finite(<a class="code" href="class_physical.html#ae7dd31dfd66682e1048b5d540a9f02e9">accel</a>.<a class="code" href="struct_point.html#ab99c56589bc8ad5fa5071387110a5bc7">x</a>) || !_finite(<a class="code" href="class_physical.html#ae7dd31dfd66682e1048b5d540a9f02e9">accel</a>.<a class="code" href="struct_point.html#afa38be143ae800e6ad69ce8ed4df62d8">y</a>) || !_finite(<a class="code" href="class_physical.html#ae7dd31dfd66682e1048b5d540a9f02e9">accel</a>.<a class="code" href="struct_point.html#a05ba3b1dfcb19430582ae953cbbfbded">z</a>))</div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  <a class="code" href="class_physical.html#ae7dd31dfd66682e1048b5d540a9f02e9">accel</a> = <a class="code" href="struct_point.html">Point</a>();</div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span> }</div>
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span> </div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span> <span class="comment">// +--------------------------------------------------------------------+</span></div>
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span> </div>
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00158"></a><span class="lineno"><a class="code" href="class_physical.html#a8e2aba22eb7fae7db322ba0b21b05758"> 158</a></span> <a class="code" href="class_physical.html#a8e2aba22eb7fae7db322ba0b21b05758">Physical::AeroFrame</a>(<span class="keywordtype">double</span> s)</div>
<div class="line"><a name="l00159"></a><span class="lineno"> 159</span> {</div>
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  <a class="code" href="class_physical.html#aed93819206c4ca747edf57ba36e930e2">arcade_velocity</a> = <a class="code" href="struct_point.html">Point</a>();</div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span> </div>
<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  <span class="comment">// if this object is under direction,</span></div>
<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  <span class="comment">// but doesn't need subframe accuracy,</span></div>
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  <span class="comment">// update the control parameters:</span></div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  <span class="keywordflow">if</span> (<a class="code" href="class_physical.html#a8ebe4e3afdd856a228135ce30bd9d704">dir</a> && !<a class="code" href="class_physical.html#a8ebe4e3afdd856a228135ce30bd9d704">dir</a>-><a class="code" href="class_director.html#a85fd37d51bb29be50ad96a39c9557329">Subframe</a>())</div>
<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  <a class="code" href="class_physical.html#a8ebe4e3afdd856a228135ce30bd9d704">dir</a>-><a class="code" href="class_director.html#ac4e89c6fafd80964ac8e44d5679279b8">ExecFrame</a>(s);</div>
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span> </div>
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  <span class="comment">// decrement life before destroying the frame time:</span></div>
<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  <span class="keywordflow">if</span> (<a class="code" href="class_physical.html#a6b8e2705ced511545378e49b14573fdc">life</a> > 0)</div>
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  <a class="code" href="class_physical.html#a6b8e2705ced511545378e49b14573fdc">life</a> -= s;</div>
<div class="line"><a name="l00171"></a><span class="lineno"> 171</span> </div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  <span class="comment">// integrate equations</span></div>
<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  <span class="comment">// using slices no larger</span></div>
<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  <span class="comment">// than sub_frame:</span></div>
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span> </div>
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  <span class="keywordtype">double</span> seconds = s;</div>
<div class="line"><a name="l00177"></a><span class="lineno"> 177</span> </div>
<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  <span class="keywordflow">while</span> (s > 0.0) {</div>
<div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  <span class="keywordflow">if</span> (s > <a class="code" href="class_physical.html#a6c010dd6ce3e164d9698d47848b07227">sub_frame</a>)</div>
<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  seconds = <a class="code" href="class_physical.html#a6c010dd6ce3e164d9698d47848b07227">sub_frame</a>;</div>
<div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  seconds = s;</div>
<div class="line"><a name="l00183"></a><span class="lineno"> 183</span> </div>
<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  <span class="comment">// if the director needs subframe accuracy, run it now:</span></div>
<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  <span class="keywordflow">if</span> (<a class="code" href="class_physical.html#a8ebe4e3afdd856a228135ce30bd9d704">dir</a> && <a class="code" href="class_physical.html#a8ebe4e3afdd856a228135ce30bd9d704">dir</a>-><a class="code" href="class_director.html#a85fd37d51bb29be50ad96a39c9557329">Subframe</a>())</div>
<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  <a class="code" href="class_physical.html#a8ebe4e3afdd856a228135ce30bd9d704">dir</a>-><a class="code" href="class_director.html#ac4e89c6fafd80964ac8e44d5679279b8">ExecFrame</a>(seconds);</div>
<div class="line"><a name="l00187"></a><span class="lineno"> 187</span> </div>
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  <a class="code" href="class_physical.html#a06d9391d5c0b3b32783a3b1f60f59e17">AngularFrame</a>(seconds);</div>
<div class="line"><a name="l00189"></a><span class="lineno"> 189</span> </div>
<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  <span class="comment">// LINEAR MOVEMENT ----------------------------</span></div>
<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  <a class="code" href="struct_point.html">Point</a> pos = <a class="code" href="class_physical.html#ae6b6004183efe4ba25cace4fc3f2fd4d">cam</a>.<a class="code" href="class_camera.html#a2a54ce5f1212212653acafa59809ce49">Pos</a>();</div>
<div class="line"><a name="l00192"></a><span class="lineno"> 192</span> </div>
<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  <span class="comment">// if the object is thrusting,</span></div>
<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  <span class="comment">// accelerate along the camera normal:</span></div>
<div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  <span class="keywordflow">if</span> (<a class="code" href="class_physical.html#ab4a9f94781e500cfc2e594d122b23927">thrust</a>) {</div>
<div class="line"><a name="l00196"></a><span class="lineno"> 196</span>  <a class="code" href="struct_point.html">Point</a> thrustvec = <a class="code" href="class_physical.html#ae6b6004183efe4ba25cace4fc3f2fd4d">cam</a>.<a class="code" href="class_camera.html#a6767fa21da7413fe049cf64eed98f02f">vpn</a>();</div>
<div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  thrustvec *= ((<a class="code" href="class_physical.html#ab4a9f94781e500cfc2e594d122b23927">thrust</a>/<a class="code" href="class_physical.html#a7c68f6e32d5725d6ae0099400f7c0b6e">mass</a>) * seconds);</div>
<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  <a class="code" href="class_physical.html#a02b1afe5e027120d1e8dc445ee80143e">velocity</a> += thrustvec;</div>
<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  }</div>
<div class="line"><a name="l00200"></a><span class="lineno"> 200</span> </div>
<div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  <span class="comment">// AERODYNAMICS ------------------------------</span></div>
<div class="line"><a name="l00202"></a><span class="lineno"> 202</span> </div>
<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  <span class="keywordflow">if</span> (<a class="code" href="class_physical.html#a33141f14054f7425edca7e92673135be">lat_thrust</a>)</div>
<div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  <a class="code" href="class_physical.html#abf3689db9ce20a6cb3901ce8d5d10762">LinearFrame</a>(seconds);</div>
<div class="line"><a name="l00205"></a><span class="lineno"> 205</span> </div>
<div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  <span class="comment">// if no thrusters, do constant gravity:</span></div>
<div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (<a class="code" href="class_physical.html#ab29b630ea2ca882c805e3c4feb9a8061">g_accel</a> > 0)</div>
<div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  <a class="code" href="class_physical.html#a02b1afe5e027120d1e8dc445ee80143e">velocity</a> += <a class="code" href="struct_point.html">Point</a>(0, -<a class="code" href="class_physical.html#ab29b630ea2ca882c805e3c4feb9a8061">g_accel</a>, 0) * seconds;</div>
<div class="line"><a name="l00209"></a><span class="lineno"> 209</span> </div>
<div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  <span class="comment">// compute alpha, rho, drag, and lift:</span></div>
<div class="line"><a name="l00211"></a><span class="lineno"> 211</span> </div>
<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  <a class="code" href="struct_point.html">Point</a> vfp = <a class="code" href="class_physical.html#a02b1afe5e027120d1e8dc445ee80143e">velocity</a>;</div>
<div class="line"><a name="l00213"></a><span class="lineno"> 213</span>  <span class="keywordtype">double</span> v = vfp.<a class="code" href="struct_point.html#a6efd403e2a6c0aa686e278d244d5e525">Normalize</a>();</div>
<div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  <span class="keywordtype">double</span> v_2 = 0;</div>
<div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  <span class="keywordtype">double</span> rho = <a class="code" href="class_physical.html#ab2128e0932c88467240448f972e23239">GetDensity</a>();</div>
<div class="line"><a name="l00216"></a><span class="lineno"> 216</span>  <span class="keywordtype">double</span> lift = 0;</div>
<div class="line"><a name="l00217"></a><span class="lineno"> 217</span> </div>
<div class="line"><a name="l00218"></a><span class="lineno"> 218</span>  <span class="keywordflow">if</span> (v > 150) {</div>
<div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  v_2 = (v-150) * (v-150);</div>
<div class="line"><a name="l00220"></a><span class="lineno"> 220</span> </div>
<div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  <a class="code" href="struct_point.html">Point</a> vfp1 = vfp - <a class="code" href="class_physical.html#ae6b6004183efe4ba25cace4fc3f2fd4d">cam</a>.<a class="code" href="class_camera.html#a276d8f65ae6c09a07add9f63bd356704">vrt</a>() * (vfp * <a class="code" href="class_physical.html#ae6b6004183efe4ba25cace4fc3f2fd4d">cam</a>.<a class="code" href="class_camera.html#a276d8f65ae6c09a07add9f63bd356704">vrt</a>());</div>
<div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  vfp1.<a class="code" href="struct_point.html#a6efd403e2a6c0aa686e278d244d5e525">Normalize</a>();</div>
<div class="line"><a name="l00223"></a><span class="lineno"> 223</span> </div>
<div class="line"><a name="l00224"></a><span class="lineno"> 224</span>  <span class="keywordtype">double</span> cos_alpha = vfp1 * <a class="code" href="class_physical.html#ae6b6004183efe4ba25cace4fc3f2fd4d">cam</a>.<a class="code" href="class_camera.html#a6767fa21da7413fe049cf64eed98f02f">vpn</a>();</div>
<div class="line"><a name="l00225"></a><span class="lineno"> 225</span> </div>
<div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  <span class="keywordflow">if</span> (cos_alpha >= 1) {</div>
<div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  <a class="code" href="class_physical.html#aef5c6056fc4474dee315086cc6a20ff5">alpha</a> = 0.0f;</div>
<div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  }</div>
<div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  <a class="code" href="class_physical.html#aef5c6056fc4474dee315086cc6a20ff5">alpha</a> = (float) acos(cos_alpha);</div>
<div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  }</div>
<div class="line"><a name="l00232"></a><span class="lineno"> 232</span> </div>
<div class="line"><a name="l00233"></a><span class="lineno"> 233</span>  <span class="comment">// if flight path is above nose, alpha is negative:</span></div>
<div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  <span class="keywordflow">if</span> (vfp1 * <a class="code" href="class_physical.html#ae6b6004183efe4ba25cace4fc3f2fd4d">cam</a>.<a class="code" href="class_camera.html#a38ab2061d58da025e9c95267505686ab">vup</a>() > 0)</div>
<div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  <a class="code" href="class_physical.html#aef5c6056fc4474dee315086cc6a20ff5">alpha</a> = -<a class="code" href="class_physical.html#aef5c6056fc4474dee315086cc6a20ff5">alpha</a>;</div>
<div class="line"><a name="l00236"></a><span class="lineno"> 236</span> </div>
<div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  <span class="keywordflow">if</span> (<a class="code" href="class_physical.html#aef5c6056fc4474dee315086cc6a20ff5">alpha</a> <= <a class="code" href="class_physical.html#a091ee071ff79007c87e33f0ff2cb574c">stall</a>) {</div>
<div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  lift = <a class="code" href="class_physical.html#ace12d2822fdb0de0b531600e550e21a6">CL</a> * <a class="code" href="class_physical.html#aef5c6056fc4474dee315086cc6a20ff5">alpha</a> * rho * v_2;</div>
<div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  }</div>
<div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  lift = <a class="code" href="class_physical.html#ace12d2822fdb0de0b531600e550e21a6">CL</a> * (2*<a class="code" href="class_physical.html#a091ee071ff79007c87e33f0ff2cb574c">stall</a> - <a class="code" href="class_physical.html#aef5c6056fc4474dee315086cc6a20ff5">alpha</a>) * rho * v_2;</div>
<div class="line"><a name="l00242"></a><span class="lineno"> 242</span>  }</div>
<div class="line"><a name="l00243"></a><span class="lineno"> 243</span> </div>
<div class="line"><a name="l00244"></a><span class="lineno"> 244</span>  <span class="comment">// add lift to velocity:</span></div>
<div class="line"><a name="l00245"></a><span class="lineno"> 245</span>  <span class="keywordflow">if</span> (_finite(lift))</div>
<div class="line"><a name="l00246"></a><span class="lineno"> 246</span>  <a class="code" href="class_physical.html#a02b1afe5e027120d1e8dc445ee80143e">velocity</a> += <a class="code" href="class_physical.html#ae6b6004183efe4ba25cace4fc3f2fd4d">cam</a>.<a class="code" href="class_camera.html#a38ab2061d58da025e9c95267505686ab">vup</a>() * lift * seconds;</div>
<div class="line"><a name="l00247"></a><span class="lineno"> 247</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  lift = 0;</div>
<div class="line"><a name="l00249"></a><span class="lineno"> 249</span> </div>
<div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  <span class="comment">// if drag applies, decellerate:</span></div>
<div class="line"><a name="l00251"></a><span class="lineno"> 251</span>  <span class="keywordtype">double</span> alpha_2 = <a class="code" href="class_physical.html#aef5c6056fc4474dee315086cc6a20ff5">alpha</a>*<a class="code" href="class_physical.html#aef5c6056fc4474dee315086cc6a20ff5">alpha</a>;</div>
<div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  <span class="keywordtype">double</span> drag_eff = (<a class="code" href="class_physical.html#ac9b8033226e8a1f0757ab8ceb25bb8c9">drag</a> + (<a class="code" href="class_physical.html#a818d4907d9771bb7b8f2b096e0ccce7e">CD</a> * alpha_2)) * rho * v_2;</div>
<div class="line"><a name="l00253"></a><span class="lineno"> 253</span> </div>
<div class="line"><a name="l00254"></a><span class="lineno"> 254</span>  <a class="code" href="struct_point.html">Point</a> vn = <a class="code" href="class_physical.html#a02b1afe5e027120d1e8dc445ee80143e">velocity</a>;</div>
<div class="line"><a name="l00255"></a><span class="lineno"> 255</span>  vn.<a class="code" href="struct_point.html#a6efd403e2a6c0aa686e278d244d5e525">Normalize</a>();</div>
<div class="line"><a name="l00256"></a><span class="lineno"> 256</span> </div>
<div class="line"><a name="l00257"></a><span class="lineno"> 257</span>  <a class="code" href="class_physical.html#a02b1afe5e027120d1e8dc445ee80143e">velocity</a> += vn * -drag_eff * seconds;</div>
<div class="line"><a name="l00258"></a><span class="lineno"> 258</span>  }</div>
<div class="line"><a name="l00259"></a><span class="lineno"> 259</span>  <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00260"></a><span class="lineno"> 260</span>  <a class="code" href="class_physical.html#a02b1afe5e027120d1e8dc445ee80143e">velocity</a> *= exp(-<a class="code" href="class_physical.html#ac9b8033226e8a1f0757ab8ceb25bb8c9">drag</a> * seconds);</div>
<div class="line"><a name="l00261"></a><span class="lineno"> 261</span>  }</div>
<div class="line"><a name="l00262"></a><span class="lineno"> 262</span> </div>
<div class="line"><a name="l00263"></a><span class="lineno"> 263</span>  <span class="comment">// move the position by the (time-frame scaled) velocity:</span></div>
<div class="line"><a name="l00264"></a><span class="lineno"> 264</span>  pos += <a class="code" href="class_physical.html#a02b1afe5e027120d1e8dc445ee80143e">velocity</a> * seconds;</div>
<div class="line"><a name="l00265"></a><span class="lineno"> 265</span>  <a class="code" href="class_physical.html#ae6b6004183efe4ba25cace4fc3f2fd4d">cam</a>.<a class="code" href="class_camera.html#a3c12e547329d78def633eca0c1ff81fb">MoveTo</a>(pos);</div>
<div class="line"><a name="l00266"></a><span class="lineno"> 266</span> </div>
<div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  s -= seconds;</div>
<div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  }</div>
<div class="line"><a name="l00269"></a><span class="lineno"> 269</span> </div>
<div class="line"><a name="l00270"></a><span class="lineno"> 270</span>  <span class="comment">// now update the graphic rep and light sources:</span></div>
<div class="line"><a name="l00271"></a><span class="lineno"> 271</span>  <span class="keywordflow">if</span> (<a class="code" href="class_physical.html#a3adbf31fe8d940401e6b12ccb275432e">rep</a>) {</div>
<div class="line"><a name="l00272"></a><span class="lineno"> 272</span>  <a class="code" href="class_physical.html#a3adbf31fe8d940401e6b12ccb275432e">rep</a>-><a class="code" href="class_graphic.html#af8bec5b637e4925c65fb77d8234fb266">MoveTo</a>(<a class="code" href="class_physical.html#ae6b6004183efe4ba25cace4fc3f2fd4d">cam</a>.<a class="code" href="class_camera.html#a2a54ce5f1212212653acafa59809ce49">Pos</a>());</div>
<div class="line"><a name="l00273"></a><span class="lineno"> 273</span>  <a class="code" href="class_physical.html#a3adbf31fe8d940401e6b12ccb275432e">rep</a>-><a class="code" href="class_graphic.html#a22f30bba82bd8b78293d7fc3cec4c80f">SetOrientation</a>(<a class="code" href="class_physical.html#ae6b6004183efe4ba25cace4fc3f2fd4d">cam</a>.<a class="code" href="class_camera.html#a6d34215f3a9eb4a163d0dfbac4a76dab">Orientation</a>());</div>
<div class="line"><a name="l00274"></a><span class="lineno"> 274</span>  }</div>
<div class="line"><a name="l00275"></a><span class="lineno"> 275</span> </div>
<div class="line"><a name="l00276"></a><span class="lineno"> 276</span>  <span class="keywordflow">if</span> (<a class="code" href="class_physical.html#afd7fa6ca59a6efa5c5bd465793da09a1">light</a>) {</div>
<div class="line"><a name="l00277"></a><span class="lineno"> 277</span>  <a class="code" href="class_physical.html#afd7fa6ca59a6efa5c5bd465793da09a1">light</a>-><a class="code" href="class_light.html#a2b5d22102dc029c87922646235d11b5d">MoveTo</a>(<a class="code" href="class_physical.html#ae6b6004183efe4ba25cace4fc3f2fd4d">cam</a>.<a class="code" href="class_camera.html#a2a54ce5f1212212653acafa59809ce49">Pos</a>());</div>
<div class="line"><a name="l00278"></a><span class="lineno"> 278</span>  }</div>
<div class="line"><a name="l00279"></a><span class="lineno"> 279</span> }</div>
<div class="line"><a name="l00280"></a><span class="lineno"> 280</span> </div>
<div class="line"><a name="l00281"></a><span class="lineno"> 281</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00282"></a><span class="lineno"><a class="code" href="class_physical.html#ab2128e0932c88467240448f972e23239"> 282</a></span> <a class="code" href="class_physical.html#ab2128e0932c88467240448f972e23239">Physical::GetDensity</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00283"></a><span class="lineno"> 283</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00284"></a><span class="lineno"> 284</span>  <span class="keywordtype">double</span> alt = <a class="code" href="class_physical.html#ae6b6004183efe4ba25cace4fc3f2fd4d">cam</a>.<a class="code" href="class_camera.html#a2a54ce5f1212212653acafa59809ce49">Pos</a>().<a class="code" href="struct_point.html#afa38be143ae800e6ad69ce8ed4df62d8">y</a>;</div>
<div class="line"><a name="l00285"></a><span class="lineno"> 285</span>  <span class="keywordtype">double</span> rho = 0.75 * <a class="code" href="class_physical.html#a4c1342675b4479b75d8dc07b879b7932">Do</a> * (250e3-alt)/250e3;</div>
<div class="line"><a name="l00286"></a><span class="lineno"> 286</span> </div>
<div class="line"><a name="l00287"></a><span class="lineno"> 287</span>  <span class="keywordflow">return</span> rho;</div>
<div class="line"><a name="l00288"></a><span class="lineno"> 288</span> }</div>
<div class="line"><a name="l00289"></a><span class="lineno"> 289</span> </div>
<div class="line"><a name="l00290"></a><span class="lineno"> 290</span> <span class="comment">// +--------------------------------------------------------------------+</span></div>
<div class="line"><a name="l00291"></a><span class="lineno"> 291</span> </div>
<div class="line"><a name="l00292"></a><span class="lineno"> 292</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00293"></a><span class="lineno"><a class="code" href="class_physical.html#a88fac6ecccf78d96ccb164d1e9797f58"> 293</a></span> <a class="code" href="class_physical.html#a88fac6ecccf78d96ccb164d1e9797f58">Physical::ArcadeFrame</a>(<span class="keywordtype">double</span> s)</div>
<div class="line"><a name="l00294"></a><span class="lineno"> 294</span> {</div>
<div class="line"><a name="l00295"></a><span class="lineno"> 295</span>  <span class="comment">// if this object is under direction,</span></div>
<div class="line"><a name="l00296"></a><span class="lineno"> 296</span>  <span class="comment">// but doesn't need subframe accuracy,</span></div>
<div class="line"><a name="l00297"></a><span class="lineno"> 297</span>  <span class="comment">// update the control parameters:</span></div>
<div class="line"><a name="l00298"></a><span class="lineno"> 298</span>  <span class="keywordflow">if</span> (<a class="code" href="class_physical.html#a8ebe4e3afdd856a228135ce30bd9d704">dir</a> && !<a class="code" href="class_physical.html#a8ebe4e3afdd856a228135ce30bd9d704">dir</a>-><a class="code" href="class_director.html#a85fd37d51bb29be50ad96a39c9557329">Subframe</a>())</div>
<div class="line"><a name="l00299"></a><span class="lineno"> 299</span>  <a class="code" href="class_physical.html#a8ebe4e3afdd856a228135ce30bd9d704">dir</a>-><a class="code" href="class_director.html#ac4e89c6fafd80964ac8e44d5679279b8">ExecFrame</a>(s);</div>
<div class="line"><a name="l00300"></a><span class="lineno"> 300</span> </div>
<div class="line"><a name="l00301"></a><span class="lineno"> 301</span>  <span class="comment">// decrement life before destroying the frame time:</span></div>
<div class="line"><a name="l00302"></a><span class="lineno"> 302</span>  <span class="keywordflow">if</span> (<a class="code" href="class_physical.html#a6b8e2705ced511545378e49b14573fdc">life</a> > 0)</div>
<div class="line"><a name="l00303"></a><span class="lineno"> 303</span>  <a class="code" href="class_physical.html#a6b8e2705ced511545378e49b14573fdc">life</a> -= s;</div>
<div class="line"><a name="l00304"></a><span class="lineno"> 304</span> </div>
<div class="line"><a name="l00305"></a><span class="lineno"> 305</span>  <span class="comment">// integrate equations</span></div>
<div class="line"><a name="l00306"></a><span class="lineno"> 306</span>  <span class="comment">// using slices no larger</span></div>
<div class="line"><a name="l00307"></a><span class="lineno"> 307</span>  <span class="comment">// than sub_frame:</span></div>
<div class="line"><a name="l00308"></a><span class="lineno"> 308</span> </div>
<div class="line"><a name="l00309"></a><span class="lineno"> 309</span>  <span class="keywordtype">double</span> seconds = s;</div>
<div class="line"><a name="l00310"></a><span class="lineno"> 310</span> </div>
<div class="line"><a name="l00311"></a><span class="lineno"> 311</span>  <span class="keywordflow">while</span> (s > 0.0) {</div>
<div class="line"><a name="l00312"></a><span class="lineno"> 312</span>  <span class="keywordflow">if</span> (s > <a class="code" href="class_physical.html#a6c010dd6ce3e164d9698d47848b07227">sub_frame</a>)</div>
<div class="line"><a name="l00313"></a><span class="lineno"> 313</span>  seconds = <a class="code" href="class_physical.html#a6c010dd6ce3e164d9698d47848b07227">sub_frame</a>;</div>
<div class="line"><a name="l00314"></a><span class="lineno"> 314</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00315"></a><span class="lineno"> 315</span>  seconds = s;</div>
<div class="line"><a name="l00316"></a><span class="lineno"> 316</span> </div>
<div class="line"><a name="l00317"></a><span class="lineno"> 317</span>  <span class="comment">// if the director needs subframe accuracy, run it now:</span></div>
<div class="line"><a name="l00318"></a><span class="lineno"> 318</span>  <span class="keywordflow">if</span> (<a class="code" href="class_physical.html#a8ebe4e3afdd856a228135ce30bd9d704">dir</a> && <a class="code" href="class_physical.html#a8ebe4e3afdd856a228135ce30bd9d704">dir</a>-><a class="code" href="class_director.html#a85fd37d51bb29be50ad96a39c9557329">Subframe</a>())</div>
<div class="line"><a name="l00319"></a><span class="lineno"> 319</span>  <a class="code" href="class_physical.html#a8ebe4e3afdd856a228135ce30bd9d704">dir</a>-><a class="code" href="class_director.html#ac4e89c6fafd80964ac8e44d5679279b8">ExecFrame</a>(seconds);</div>
<div class="line"><a name="l00320"></a><span class="lineno"> 320</span> </div>
<div class="line"><a name="l00321"></a><span class="lineno"> 321</span>  <span class="keywordflow">if</span> (!<a class="code" href="class_physical.html#ad57f7c28a081079e6c3b1ecd1089e927">straight</a>)</div>
<div class="line"><a name="l00322"></a><span class="lineno"> 322</span>  <a class="code" href="class_physical.html#a06d9391d5c0b3b32783a3b1f60f59e17">AngularFrame</a>(seconds);</div>
<div class="line"><a name="l00323"></a><span class="lineno"> 323</span> </div>
<div class="line"><a name="l00324"></a><span class="lineno"> 324</span>  <a class="code" href="struct_point.html">Point</a> pos = <a class="code" href="class_physical.html#ae6b6004183efe4ba25cace4fc3f2fd4d">cam</a>.<a class="code" href="class_camera.html#a2a54ce5f1212212653acafa59809ce49">Pos</a>();</div>
<div class="line"><a name="l00325"></a><span class="lineno"> 325</span> </div>
<div class="line"><a name="l00326"></a><span class="lineno"> 326</span>  <span class="comment">// ARCADE FLIGHT MODEL:</span></div>
<div class="line"><a name="l00327"></a><span class="lineno"> 327</span>  <span class="comment">// arcade_velocity vector is always in line with heading</span></div>
<div class="line"><a name="l00328"></a><span class="lineno"> 328</span> </div>
<div class="line"><a name="l00329"></a><span class="lineno"> 329</span>  <span class="keywordtype">double</span> speed = <a class="code" href="class_physical.html#aed93819206c4ca747edf57ba36e930e2">arcade_velocity</a>.<a class="code" href="struct_point.html#a6efd403e2a6c0aa686e278d244d5e525">Normalize</a>();</div>
<div class="line"><a name="l00330"></a><span class="lineno"> 330</span>  <span class="keywordtype">double</span> bleed = <a class="code" href="class_physical.html#aed93819206c4ca747edf57ba36e930e2">arcade_velocity</a> * <a class="code" href="class_physical.html#ae6b6004183efe4ba25cace4fc3f2fd4d">cam</a>.<a class="code" href="class_camera.html#a6767fa21da7413fe049cf64eed98f02f">vpn</a>();</div>
<div class="line"><a name="l00331"></a><span class="lineno"> 331</span> </div>
<div class="line"><a name="l00332"></a><span class="lineno"> 332</span>  speed *= pow(bleed, 30);</div>
<div class="line"><a name="l00333"></a><span class="lineno"> 333</span>  <a class="code" href="class_physical.html#aed93819206c4ca747edf57ba36e930e2">arcade_velocity</a> = <a class="code" href="class_physical.html#ae6b6004183efe4ba25cace4fc3f2fd4d">cam</a>.<a class="code" href="class_camera.html#a6767fa21da7413fe049cf64eed98f02f">vpn</a>() * speed;</div>
<div class="line"><a name="l00334"></a><span class="lineno"> 334</span> </div>
<div class="line"><a name="l00335"></a><span class="lineno"> 335</span>  <span class="keywordflow">if</span> (<a class="code" href="class_physical.html#ab4a9f94781e500cfc2e594d122b23927">thrust</a>) {</div>
<div class="line"><a name="l00336"></a><span class="lineno"> 336</span>  <a class="code" href="struct_point.html">Point</a> thrustvec = <a class="code" href="class_physical.html#ae6b6004183efe4ba25cace4fc3f2fd4d">cam</a>.<a class="code" href="class_camera.html#a6767fa21da7413fe049cf64eed98f02f">vpn</a>();</div>
<div class="line"><a name="l00337"></a><span class="lineno"> 337</span>  thrustvec *= ((<a class="code" href="class_physical.html#ab4a9f94781e500cfc2e594d122b23927">thrust</a>/<a class="code" href="class_physical.html#a7c68f6e32d5725d6ae0099400f7c0b6e">mass</a>) * seconds);</div>
<div class="line"><a name="l00338"></a><span class="lineno"> 338</span>  <a class="code" href="class_physical.html#aed93819206c4ca747edf57ba36e930e2">arcade_velocity</a> += thrustvec;</div>
<div class="line"><a name="l00339"></a><span class="lineno"> 339</span>  }</div>
<div class="line"><a name="l00340"></a><span class="lineno"> 340</span> </div>
<div class="line"><a name="l00341"></a><span class="lineno"> 341</span>  <span class="keywordflow">if</span> (<a class="code" href="class_physical.html#ac9b8033226e8a1f0757ab8ceb25bb8c9">drag</a>)</div>
<div class="line"><a name="l00342"></a><span class="lineno"> 342</span>  <a class="code" href="class_physical.html#aed93819206c4ca747edf57ba36e930e2">arcade_velocity</a> *= exp(-<a class="code" href="class_physical.html#ac9b8033226e8a1f0757ab8ceb25bb8c9">drag</a> * seconds);</div>
<div class="line"><a name="l00343"></a><span class="lineno"> 343</span> </div>
<div class="line"><a name="l00344"></a><span class="lineno"> 344</span>  <a class="code" href="class_physical.html#abf3689db9ce20a6cb3901ce8d5d10762">LinearFrame</a>(seconds);</div>
<div class="line"><a name="l00345"></a><span class="lineno"> 345</span> </div>
<div class="line"><a name="l00346"></a><span class="lineno"> 346</span>  <span class="comment">// move the position by the (time-frame scaled) velocity:</span></div>
<div class="line"><a name="l00347"></a><span class="lineno"> 347</span>  pos += <a class="code" href="class_physical.html#aed93819206c4ca747edf57ba36e930e2">arcade_velocity</a> * seconds + </div>
<div class="line"><a name="l00348"></a><span class="lineno"> 348</span>  <a class="code" href="class_physical.html#a02b1afe5e027120d1e8dc445ee80143e">velocity</a> * seconds;</div>
<div class="line"><a name="l00349"></a><span class="lineno"> 349</span> </div>
<div class="line"><a name="l00350"></a><span class="lineno"> 350</span>  <a class="code" href="class_physical.html#ae6b6004183efe4ba25cace4fc3f2fd4d">cam</a>.<a class="code" href="class_camera.html#a3c12e547329d78def633eca0c1ff81fb">MoveTo</a>(pos);</div>
<div class="line"><a name="l00351"></a><span class="lineno"> 351</span> </div>
<div class="line"><a name="l00352"></a><span class="lineno"> 352</span>  s -= seconds;</div>
<div class="line"><a name="l00353"></a><span class="lineno"> 353</span>  }</div>
<div class="line"><a name="l00354"></a><span class="lineno"> 354</span> </div>
<div class="line"><a name="l00355"></a><span class="lineno"> 355</span>  <a class="code" href="class_physical.html#aef5c6056fc4474dee315086cc6a20ff5">alpha</a> = 0.0f;</div>
<div class="line"><a name="l00356"></a><span class="lineno"> 356</span> </div>
<div class="line"><a name="l00357"></a><span class="lineno"> 357</span>  <span class="comment">// now update the graphic rep and light sources:</span></div>
<div class="line"><a name="l00358"></a><span class="lineno"> 358</span>  <span class="keywordflow">if</span> (<a class="code" href="class_physical.html#a3adbf31fe8d940401e6b12ccb275432e">rep</a>) {</div>
<div class="line"><a name="l00359"></a><span class="lineno"> 359</span>  <a class="code" href="class_physical.html#a3adbf31fe8d940401e6b12ccb275432e">rep</a>-><a class="code" href="class_graphic.html#af8bec5b637e4925c65fb77d8234fb266">MoveTo</a>(<a class="code" href="class_physical.html#ae6b6004183efe4ba25cace4fc3f2fd4d">cam</a>.<a class="code" href="class_camera.html#a2a54ce5f1212212653acafa59809ce49">Pos</a>());</div>
<div class="line"><a name="l00360"></a><span class="lineno"> 360</span>  <a class="code" href="class_physical.html#a3adbf31fe8d940401e6b12ccb275432e">rep</a>-><a class="code" href="class_graphic.html#a22f30bba82bd8b78293d7fc3cec4c80f">SetOrientation</a>(<a class="code" href="class_physical.html#ae6b6004183efe4ba25cace4fc3f2fd4d">cam</a>.<a class="code" href="class_camera.html#a6d34215f3a9eb4a163d0dfbac4a76dab">Orientation</a>());</div>
<div class="line"><a name="l00361"></a><span class="lineno"> 361</span>  }</div>
<div class="line"><a name="l00362"></a><span class="lineno"> 362</span> </div>
<div class="line"><a name="l00363"></a><span class="lineno"> 363</span>  <span class="keywordflow">if</span> (<a class="code" href="class_physical.html#afd7fa6ca59a6efa5c5bd465793da09a1">light</a>) {</div>
<div class="line"><a name="l00364"></a><span class="lineno"> 364</span>  <a class="code" href="class_physical.html#afd7fa6ca59a6efa5c5bd465793da09a1">light</a>-><a class="code" href="class_light.html#a2b5d22102dc029c87922646235d11b5d">MoveTo</a>(<a class="code" href="class_physical.html#ae6b6004183efe4ba25cace4fc3f2fd4d">cam</a>.<a class="code" href="class_camera.html#a2a54ce5f1212212653acafa59809ce49">Pos</a>());</div>
<div class="line"><a name="l00365"></a><span class="lineno"> 365</span>  }</div>
<div class="line"><a name="l00366"></a><span class="lineno"> 366</span> }</div>
<div class="line"><a name="l00367"></a><span class="lineno"> 367</span> </div>
<div class="line"><a name="l00368"></a><span class="lineno"> 368</span> <span class="comment">// +--------------------------------------------------------------------+</span></div>
<div class="line"><a name="l00369"></a><span class="lineno"> 369</span> </div>
<div class="line"><a name="l00370"></a><span class="lineno"> 370</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00371"></a><span class="lineno"><a class="code" href="class_physical.html#a06d9391d5c0b3b32783a3b1f60f59e17"> 371</a></span> <a class="code" href="class_physical.html#a06d9391d5c0b3b32783a3b1f60f59e17">Physical::AngularFrame</a>(<span class="keywordtype">double</span> seconds)</div>
<div class="line"><a name="l00372"></a><span class="lineno"> 372</span> {</div>
<div class="line"><a name="l00373"></a><span class="lineno"> 373</span>  <span class="keywordflow">if</span> (!<a class="code" href="class_physical.html#ad57f7c28a081079e6c3b1ecd1089e927">straight</a>) {</div>
<div class="line"><a name="l00374"></a><span class="lineno"> 374</span>  <a class="code" href="class_physical.html#af93e3c7b7e9c8978caff8f84d4f0cfb0">dr</a> += (float) (<a class="code" href="class_physical.html#a700d67f9d9d134d6e89619e2ff88a03f">dr_acc</a> * seconds);</div>
<div class="line"><a name="l00375"></a><span class="lineno"> 375</span>  <a class="code" href="class_physical.html#ac6071904c1e17537adef89fbae9f3942">dy</a> += (float) (<a class="code" href="class_physical.html#a122baad9132db172b9e1103c736df69a">dy_acc</a> * seconds);</div>
<div class="line"><a name="l00376"></a><span class="lineno"> 376</span>  <a class="code" href="class_physical.html#aaefd9045f896c5322df107f980249f20">dp</a> += (float) (<a class="code" href="class_physical.html#a19430528448288c4b73b17f9f0e6418c">dp_acc</a> * seconds);</div>
<div class="line"><a name="l00377"></a><span class="lineno"> 377</span>  </div>
<div class="line"><a name="l00378"></a><span class="lineno"> 378</span>  <a class="code" href="class_physical.html#af93e3c7b7e9c8978caff8f84d4f0cfb0">dr</a> *= (float) exp(-<a class="code" href="class_physical.html#aa97e3222a4d7bee7f0a86f0ddfedc729">dr_drg</a> * seconds);</div>
<div class="line"><a name="l00379"></a><span class="lineno"> 379</span>  <a class="code" href="class_physical.html#ac6071904c1e17537adef89fbae9f3942">dy</a> *= (float) exp(-<a class="code" href="class_physical.html#a8b54e9624bb79c518e61fde79e18393e">dy_drg</a> * seconds);</div>
<div class="line"><a name="l00380"></a><span class="lineno"> 380</span>  <a class="code" href="class_physical.html#aaefd9045f896c5322df107f980249f20">dp</a> *= (float) exp(-<a class="code" href="class_physical.html#ae0a23449b126a926c741c6dcb8650aaf">dp_drg</a> * seconds);</div>
<div class="line"><a name="l00381"></a><span class="lineno"> 381</span> </div>
<div class="line"><a name="l00382"></a><span class="lineno"> 382</span>  <a class="code" href="class_physical.html#a1342854ae569c6e053a106df8e97a522">roll</a> = (float) (<a class="code" href="class_physical.html#af93e3c7b7e9c8978caff8f84d4f0cfb0">dr</a> * seconds);</div>
<div class="line"><a name="l00383"></a><span class="lineno"> 383</span>  <a class="code" href="class_physical.html#a760b0be05697d5fbe9a652b8d9fe48d0">pitch</a> = (float) (<a class="code" href="class_physical.html#aaefd9045f896c5322df107f980249f20">dp</a> * seconds);</div>
<div class="line"><a name="l00384"></a><span class="lineno"> 384</span>  <a class="code" href="class_physical.html#a9622775c81f1934ee5b3370008aceb15">yaw</a> = (float) (<a class="code" href="class_physical.html#ac6071904c1e17537adef89fbae9f3942">dy</a> * seconds);</div>
<div class="line"><a name="l00385"></a><span class="lineno"> 385</span> </div>
<div class="line"><a name="l00386"></a><span class="lineno"> 386</span>  <span class="keywordflow">if</span> (<a class="code" href="class_physical.html#acb24f3d7c5ee7743da91e2578bd984f2">shake</a> > 0.01) {</div>
<div class="line"><a name="l00387"></a><span class="lineno"> 387</span>  <a class="code" href="class_physical.html#a91636e0c8d273057d1e4631bff138473">vibration</a> = <a class="code" href="struct_point.html">Point</a>(<a class="code" href="_physical_8cpp.html#a7ba5ae854b32f4fd9f36f8dac1a27fdc">random</a>(), <a class="code" href="_physical_8cpp.html#a7ba5ae854b32f4fd9f36f8dac1a27fdc">random</a>(), <a class="code" href="_physical_8cpp.html#a7ba5ae854b32f4fd9f36f8dac1a27fdc">random</a>());</div>
<div class="line"><a name="l00388"></a><span class="lineno"> 388</span>  <a class="code" href="class_physical.html#a91636e0c8d273057d1e4631bff138473">vibration</a>.<a class="code" href="struct_point.html#a6efd403e2a6c0aa686e278d244d5e525">Normalize</a>();</div>
<div class="line"><a name="l00389"></a><span class="lineno"> 389</span>  <a class="code" href="class_physical.html#a91636e0c8d273057d1e4631bff138473">vibration</a> *= (float) (<a class="code" href="class_physical.html#acb24f3d7c5ee7743da91e2578bd984f2">shake</a> * seconds);</div>
<div class="line"><a name="l00390"></a><span class="lineno"> 390</span> </div>
<div class="line"><a name="l00391"></a><span class="lineno"> 391</span>  <a class="code" href="class_physical.html#acb24f3d7c5ee7743da91e2578bd984f2">shake</a> *= (float) exp(-1.5 * seconds);</div>
<div class="line"><a name="l00392"></a><span class="lineno"> 392</span>  }</div>
<div class="line"><a name="l00393"></a><span class="lineno"> 393</span>  <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00394"></a><span class="lineno"> 394</span>  <a class="code" href="class_physical.html#a91636e0c8d273057d1e4631bff138473">vibration</a>.<a class="code" href="struct_point.html#ab99c56589bc8ad5fa5071387110a5bc7">x</a> = <a class="code" href="class_physical.html#a91636e0c8d273057d1e4631bff138473">vibration</a>.<a class="code" href="struct_point.html#afa38be143ae800e6ad69ce8ed4df62d8">y</a> = <a class="code" href="class_physical.html#a91636e0c8d273057d1e4631bff138473">vibration</a>.<a class="code" href="struct_point.html#a05ba3b1dfcb19430582ae953cbbfbded">z</a> = 0.0f;</div>
<div class="line"><a name="l00395"></a><span class="lineno"> 395</span>  <a class="code" href="class_physical.html#acb24f3d7c5ee7743da91e2578bd984f2">shake</a> = 0.0f;</div>
<div class="line"><a name="l00396"></a><span class="lineno"> 396</span>  }</div>
<div class="line"><a name="l00397"></a><span class="lineno"> 397</span> </div>
<div class="line"><a name="l00398"></a><span class="lineno"> 398</span>  <a class="code" href="class_physical.html#ae6b6004183efe4ba25cace4fc3f2fd4d">cam</a>.<a class="code" href="class_camera.html#a15d2391497a071fa4c34c9192835df50">Aim</a>(<a class="code" href="class_physical.html#a1342854ae569c6e053a106df8e97a522">roll</a>, <a class="code" href="class_physical.html#a760b0be05697d5fbe9a652b8d9fe48d0">pitch</a>, <a class="code" href="class_physical.html#a9622775c81f1934ee5b3370008aceb15">yaw</a>);</div>
<div class="line"><a name="l00399"></a><span class="lineno"> 399</span>  }</div>
<div class="line"><a name="l00400"></a><span class="lineno"> 400</span> }</div>
<div class="line"><a name="l00401"></a><span class="lineno"> 401</span> </div>
<div class="line"><a name="l00402"></a><span class="lineno"> 402</span> <span class="comment">// +--------------------------------------------------------------------+</span></div>
<div class="line"><a name="l00403"></a><span class="lineno"> 403</span> </div>
<div class="line"><a name="l00404"></a><span class="lineno"> 404</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00405"></a><span class="lineno"><a class="code" href="class_physical.html#abf3689db9ce20a6cb3901ce8d5d10762"> 405</a></span> <a class="code" href="class_physical.html#abf3689db9ce20a6cb3901ce8d5d10762">Physical::LinearFrame</a>(<span class="keywordtype">double</span> seconds)</div>
<div class="line"><a name="l00406"></a><span class="lineno"> 406</span> {</div>
<div class="line"><a name="l00407"></a><span class="lineno"> 407</span>  <span class="comment">// deal with lateral thrusters:</span></div>
<div class="line"><a name="l00408"></a><span class="lineno"> 408</span> </div>
<div class="line"><a name="l00409"></a><span class="lineno"> 409</span>  <span class="keywordflow">if</span> (<a class="code" href="class_physical.html#a31ee78848140bfc4a05e3ccbf6770656">trans_x</a>) { <span class="comment">// side-to-side</span></div>
<div class="line"><a name="l00410"></a><span class="lineno"> 410</span>  <a class="code" href="struct_point.html">Point</a> transvec = <a class="code" href="class_physical.html#ae6b6004183efe4ba25cace4fc3f2fd4d">cam</a>.<a class="code" href="class_camera.html#a276d8f65ae6c09a07add9f63bd356704">vrt</a>();</div>
<div class="line"><a name="l00411"></a><span class="lineno"> 411</span>  transvec *= ((<a class="code" href="class_physical.html#a31ee78848140bfc4a05e3ccbf6770656">trans_x</a>/<a class="code" href="class_physical.html#a7c68f6e32d5725d6ae0099400f7c0b6e">mass</a>) * seconds);</div>
<div class="line"><a name="l00412"></a><span class="lineno"> 412</span> </div>
<div class="line"><a name="l00413"></a><span class="lineno"> 413</span>  <a class="code" href="class_physical.html#a02b1afe5e027120d1e8dc445ee80143e">velocity</a> += transvec;</div>
<div class="line"><a name="l00414"></a><span class="lineno"> 414</span>  }</div>
<div class="line"><a name="l00415"></a><span class="lineno"> 415</span> </div>
<div class="line"><a name="l00416"></a><span class="lineno"> 416</span>  <span class="keywordflow">if</span> (<a class="code" href="class_physical.html#a41e10f76bb0bee8782e12b1b4ff9eacc">trans_y</a>) { <span class="comment">// fore-and-aft</span></div>
<div class="line"><a name="l00417"></a><span class="lineno"> 417</span>  <a class="code" href="struct_point.html">Point</a> transvec = <a class="code" href="class_physical.html#ae6b6004183efe4ba25cace4fc3f2fd4d">cam</a>.<a class="code" href="class_camera.html#a6767fa21da7413fe049cf64eed98f02f">vpn</a>();</div>
<div class="line"><a name="l00418"></a><span class="lineno"> 418</span>  transvec *= ((<a class="code" href="class_physical.html#a41e10f76bb0bee8782e12b1b4ff9eacc">trans_y</a>/<a class="code" href="class_physical.html#a7c68f6e32d5725d6ae0099400f7c0b6e">mass</a>) * seconds);</div>
<div class="line"><a name="l00419"></a><span class="lineno"> 419</span> </div>
<div class="line"><a name="l00420"></a><span class="lineno"> 420</span>  <a class="code" href="class_physical.html#a02b1afe5e027120d1e8dc445ee80143e">velocity</a> += transvec;</div>
<div class="line"><a name="l00421"></a><span class="lineno"> 421</span>  }</div>
<div class="line"><a name="l00422"></a><span class="lineno"> 422</span> </div>
<div class="line"><a name="l00423"></a><span class="lineno"> 423</span>  <span class="keywordflow">if</span> (<a class="code" href="class_physical.html#a23a156200251e24ac72d80854b870c9b">trans_z</a>) { <span class="comment">// up-and-down</span></div>
<div class="line"><a name="l00424"></a><span class="lineno"> 424</span>  <a class="code" href="struct_point.html">Point</a> transvec = <a class="code" href="class_physical.html#ae6b6004183efe4ba25cace4fc3f2fd4d">cam</a>.<a class="code" href="class_camera.html#a38ab2061d58da025e9c95267505686ab">vup</a>();</div>
<div class="line"><a name="l00425"></a><span class="lineno"> 425</span>  transvec *= ((<a class="code" href="class_physical.html#a23a156200251e24ac72d80854b870c9b">trans_z</a>/<a class="code" href="class_physical.html#a7c68f6e32d5725d6ae0099400f7c0b6e">mass</a>) * seconds);</div>
<div class="line"><a name="l00426"></a><span class="lineno"> 426</span> </div>
<div class="line"><a name="l00427"></a><span class="lineno"> 427</span>  <a class="code" href="class_physical.html#a02b1afe5e027120d1e8dc445ee80143e">velocity</a> += transvec;</div>
<div class="line"><a name="l00428"></a><span class="lineno"> 428</span>  }</div>
<div class="line"><a name="l00429"></a><span class="lineno"> 429</span> </div>
<div class="line"><a name="l00430"></a><span class="lineno"> 430</span>  <span class="comment">// if gravity applies, attract:</span></div>
<div class="line"><a name="l00431"></a><span class="lineno"> 431</span>  <span class="keywordflow">if</span> (<a class="code" href="class_physical.html#afd82688e691f376ee8f1887638032800">primary_mass</a> > 0) {</div>
<div class="line"><a name="l00432"></a><span class="lineno"> 432</span>  <a class="code" href="struct_point.html">Point</a> g = <a class="code" href="class_physical.html#ac64ba8dfcf6923b8cb9e6a00d7b5023f">primary_loc</a> - <a class="code" href="class_physical.html#ae6b6004183efe4ba25cace4fc3f2fd4d">cam</a>.<a class="code" href="class_camera.html#a2a54ce5f1212212653acafa59809ce49">Pos</a>();</div>
<div class="line"><a name="l00433"></a><span class="lineno"> 433</span>  <span class="keywordtype">double</span> r = g.<a class="code" href="struct_point.html#a6efd403e2a6c0aa686e278d244d5e525">Normalize</a>();</div>
<div class="line"><a name="l00434"></a><span class="lineno"> 434</span> </div>
<div class="line"><a name="l00435"></a><span class="lineno"> 435</span>  g *= GRAV * <a class="code" href="class_physical.html#afd82688e691f376ee8f1887638032800">primary_mass</a> / (r*r);</div>
<div class="line"><a name="l00436"></a><span class="lineno"> 436</span> </div>
<div class="line"><a name="l00437"></a><span class="lineno"> 437</span>  <a class="code" href="class_physical.html#a02b1afe5e027120d1e8dc445ee80143e">velocity</a> += g * seconds;</div>
<div class="line"><a name="l00438"></a><span class="lineno"> 438</span>  }</div>
<div class="line"><a name="l00439"></a><span class="lineno"> 439</span> </div>
<div class="line"><a name="l00440"></a><span class="lineno"> 440</span>  <span class="comment">// constant gravity:</span></div>
<div class="line"><a name="l00441"></a><span class="lineno"> 441</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (<a class="code" href="class_physical.html#ab29b630ea2ca882c805e3c4feb9a8061">g_accel</a> > 0)</div>
<div class="line"><a name="l00442"></a><span class="lineno"> 442</span>  <a class="code" href="class_physical.html#a02b1afe5e027120d1e8dc445ee80143e">velocity</a> += <a class="code" href="struct_point.html">Point</a>(0, -<a class="code" href="class_physical.html#ab29b630ea2ca882c805e3c4feb9a8061">g_accel</a>, 0) * seconds;</div>
<div class="line"><a name="l00443"></a><span class="lineno"> 443</span> </div>
<div class="line"><a name="l00444"></a><span class="lineno"> 444</span>  <span class="comment">// if drag applies, decellerate:</span></div>
<div class="line"><a name="l00445"></a><span class="lineno"> 445</span>  <span class="keywordflow">if</span> (<a class="code" href="class_physical.html#ac9b8033226e8a1f0757ab8ceb25bb8c9">drag</a>)</div>
<div class="line"><a name="l00446"></a><span class="lineno"> 446</span>  <a class="code" href="class_physical.html#a02b1afe5e027120d1e8dc445ee80143e">velocity</a> *= exp(-<a class="code" href="class_physical.html#ac9b8033226e8a1f0757ab8ceb25bb8c9">drag</a> * seconds);</div>
<div class="line"><a name="l00447"></a><span class="lineno"> 447</span> }</div>
<div class="line"><a name="l00448"></a><span class="lineno"> 448</span> </div>
<div class="line"><a name="l00449"></a><span class="lineno"> 449</span> <span class="comment">// +--------------------------------------------------------------------+</span></div>
<div class="line"><a name="l00450"></a><span class="lineno"> 450</span> </div>
<div class="line"><a name="l00451"></a><span class="lineno"> 451</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00452"></a><span class="lineno"><a class="code" href="class_physical.html#abe8b831faa85d7022f641209213e18d7"> 452</a></span> <a class="code" href="class_physical.html#abe8b831faa85d7022f641209213e18d7">Physical::CalcFlightPath</a>()</div>
<div class="line"><a name="l00453"></a><span class="lineno"> 453</span> {</div>
<div class="line"><a name="l00454"></a><span class="lineno"> 454</span>  <a class="code" href="class_physical.html#a500b4feb4136d796e5bd44c10dd7f588">flight_path_yaw</a> = 0.0f;</div>
<div class="line"><a name="l00455"></a><span class="lineno"> 455</span>  <a class="code" href="class_physical.html#a47ee55f7dc6532dd5fa8f29647a757b2">flight_path_pitch</a> = 0.0f;</div>
<div class="line"><a name="l00456"></a><span class="lineno"> 456</span> </div>
<div class="line"><a name="l00457"></a><span class="lineno"> 457</span>  <span class="comment">// transform flight path into camera frame:</span></div>
<div class="line"><a name="l00458"></a><span class="lineno"> 458</span>  <a class="code" href="struct_point.html">Point</a> flight_path = <a class="code" href="class_physical.html#a02b1afe5e027120d1e8dc445ee80143e">velocity</a>;</div>
<div class="line"><a name="l00459"></a><span class="lineno"> 459</span>  <span class="keywordflow">if</span> (flight_path.<a class="code" href="struct_point.html#a6efd403e2a6c0aa686e278d244d5e525">Normalize</a>() < 1)</div>
<div class="line"><a name="l00460"></a><span class="lineno"> 460</span>  <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00461"></a><span class="lineno"> 461</span> </div>
<div class="line"><a name="l00462"></a><span class="lineno"> 462</span>  <a class="code" href="struct_point.html">Point</a> tmp = flight_path;</div>
<div class="line"><a name="l00463"></a><span class="lineno"> 463</span>  flight_path.<a class="code" href="struct_point.html#ab99c56589bc8ad5fa5071387110a5bc7">x</a> = tmp * <a class="code" href="class_physical.html#ae6b6004183efe4ba25cace4fc3f2fd4d">cam</a>.<a class="code" href="class_camera.html#a276d8f65ae6c09a07add9f63bd356704">vrt</a>();</div>
<div class="line"><a name="l00464"></a><span class="lineno"> 464</span>  flight_path.<a class="code" href="struct_point.html#afa38be143ae800e6ad69ce8ed4df62d8">y</a> = tmp * <a class="code" href="class_physical.html#ae6b6004183efe4ba25cace4fc3f2fd4d">cam</a>.<a class="code" href="class_camera.html#a38ab2061d58da025e9c95267505686ab">vup</a>();</div>
<div class="line"><a name="l00465"></a><span class="lineno"> 465</span>  flight_path.<a class="code" href="struct_point.html#a05ba3b1dfcb19430582ae953cbbfbded">z</a> = tmp * <a class="code" href="class_physical.html#ae6b6004183efe4ba25cace4fc3f2fd4d">cam</a>.<a class="code" href="class_camera.html#a6767fa21da7413fe049cf64eed98f02f">vpn</a>();</div>
<div class="line"><a name="l00466"></a><span class="lineno"> 466</span> </div>
<div class="line"><a name="l00467"></a><span class="lineno"> 467</span>  <span class="keywordflow">if</span> (flight_path.<a class="code" href="struct_point.html#a05ba3b1dfcb19430582ae953cbbfbded">z</a> < 0.1)</div>
<div class="line"><a name="l00468"></a><span class="lineno"> 468</span>  <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00469"></a><span class="lineno"> 469</span> </div>
<div class="line"><a name="l00470"></a><span class="lineno"> 470</span>  <span class="comment">// first, compute azimuth:</span></div>
<div class="line"><a name="l00471"></a><span class="lineno"> 471</span>  <a class="code" href="class_physical.html#a500b4feb4136d796e5bd44c10dd7f588">flight_path_yaw</a> = (float) atan(flight_path.<a class="code" href="struct_point.html#ab99c56589bc8ad5fa5071387110a5bc7">x</a> / flight_path.<a class="code" href="struct_point.html#a05ba3b1dfcb19430582ae953cbbfbded">z</a>);</div>
<div class="line"><a name="l00472"></a><span class="lineno"> 472</span>  <span class="keywordflow">if</span> (flight_path.<a class="code" href="struct_point.html#a05ba3b1dfcb19430582ae953cbbfbded">z</a> < 0) <a class="code" href="class_physical.html#a500b4feb4136d796e5bd44c10dd7f588">flight_path_yaw</a> -= (float) <a class="code" href="_geometry_8h.html#a952eac791b596a61bba0a133a3bb439f">PI</a>;</div>
<div class="line"><a name="l00473"></a><span class="lineno"> 473</span>  <span class="keywordflow">if</span> (<a class="code" href="class_physical.html#a500b4feb4136d796e5bd44c10dd7f588">flight_path_yaw</a> < -<a class="code" href="_geometry_8h.html#a952eac791b596a61bba0a133a3bb439f">PI</a>) <a class="code" href="class_physical.html#a500b4feb4136d796e5bd44c10dd7f588">flight_path_yaw</a> += (float) (2*<a class="code" href="_geometry_8h.html#a952eac791b596a61bba0a133a3bb439f">PI</a>);</div>
<div class="line"><a name="l00474"></a><span class="lineno"> 474</span> </div>
<div class="line"><a name="l00475"></a><span class="lineno"> 475</span>  <span class="comment">// then, rotate path into azimuth frame to compute elevation:</span></div>
<div class="line"><a name="l00476"></a><span class="lineno"> 476</span>  <a class="code" href="class_camera.html">Camera</a> yaw_cam;</div>
<div class="line"><a name="l00477"></a><span class="lineno"> 477</span>  yaw_cam.<a class="code" href="class_camera.html#a04eb689dabc8e56ec6098377d1321942">Clone</a>(<a class="code" href="class_physical.html#ae6b6004183efe4ba25cace4fc3f2fd4d">cam</a>);</div>
<div class="line"><a name="l00478"></a><span class="lineno"> 478</span>  yaw_cam.<a class="code" href="class_camera.html#ac79dc292c4bbdc2d090646ee37ff0234">Yaw</a>(<a class="code" href="class_physical.html#a500b4feb4136d796e5bd44c10dd7f588">flight_path_yaw</a>);</div>
<div class="line"><a name="l00479"></a><span class="lineno"> 479</span> </div>
<div class="line"><a name="l00480"></a><span class="lineno"> 480</span>  flight_path.<a class="code" href="struct_point.html#ab99c56589bc8ad5fa5071387110a5bc7">x</a> = tmp * yaw_cam.<a class="code" href="class_camera.html#a276d8f65ae6c09a07add9f63bd356704">vrt</a>();</div>
<div class="line"><a name="l00481"></a><span class="lineno"> 481</span>  flight_path.<a class="code" href="struct_point.html#afa38be143ae800e6ad69ce8ed4df62d8">y</a> = tmp * yaw_cam.<a class="code" href="class_camera.html#a38ab2061d58da025e9c95267505686ab">vup</a>();</div>
<div class="line"><a name="l00482"></a><span class="lineno"> 482</span>  flight_path.<a class="code" href="struct_point.html#a05ba3b1dfcb19430582ae953cbbfbded">z</a> = tmp * yaw_cam.<a class="code" href="class_camera.html#a6767fa21da7413fe049cf64eed98f02f">vpn</a>();</div>
<div class="line"><a name="l00483"></a><span class="lineno"> 483</span> </div>
<div class="line"><a name="l00484"></a><span class="lineno"> 484</span>  <a class="code" href="class_physical.html#a47ee55f7dc6532dd5fa8f29647a757b2">flight_path_pitch</a> = (float) atan(flight_path.<a class="code" href="struct_point.html#afa38be143ae800e6ad69ce8ed4df62d8">y</a> / flight_path.<a class="code" href="struct_point.html#a05ba3b1dfcb19430582ae953cbbfbded">z</a>);</div>
<div class="line"><a name="l00485"></a><span class="lineno"> 485</span> }</div>
<div class="line"><a name="l00486"></a><span class="lineno"> 486</span> </div>
<div class="line"><a name="l00487"></a><span class="lineno"> 487</span> <span class="comment">// +--------------------------------------------------------------------+</span></div>
<div class="line"><a name="l00488"></a><span class="lineno"> 488</span> </div>
<div class="line"><a name="l00489"></a><span class="lineno"> 489</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00490"></a><span class="lineno"><a class="code" href="class_physical.html#aaab110c0381fdc000018c6a65b9ef657"> 490</a></span> <a class="code" href="class_physical.html#aaab110c0381fdc000018c6a65b9ef657">Physical::MoveTo</a>(<span class="keyword">const</span> <a class="code" href="struct_point.html">Point</a>& new_loc)</div>
<div class="line"><a name="l00491"></a><span class="lineno"> 491</span> {</div>
<div class="line"><a name="l00492"></a><span class="lineno"> 492</span>  <a class="code" href="class_physical.html#ae6b6004183efe4ba25cace4fc3f2fd4d">cam</a>.<a class="code" href="class_camera.html#a3c12e547329d78def633eca0c1ff81fb">MoveTo</a>(new_loc);</div>
<div class="line"><a name="l00493"></a><span class="lineno"> 493</span> }</div>
<div class="line"><a name="l00494"></a><span class="lineno"> 494</span> </div>
<div class="line"><a name="l00495"></a><span class="lineno"> 495</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00496"></a><span class="lineno"><a class="code" href="class_physical.html#a441070b74fe991914da5bc4d3b25124c"> 496</a></span> <a class="code" href="class_physical.html#a441070b74fe991914da5bc4d3b25124c">Physical::TranslateBy</a>(<span class="keyword">const</span> <a class="code" href="struct_point.html">Point</a>& ref)</div>
<div class="line"><a name="l00497"></a><span class="lineno"> 497</span> {</div>
<div class="line"><a name="l00498"></a><span class="lineno"> 498</span>  <a class="code" href="struct_point.html">Point</a> new_loc = <a class="code" href="class_physical.html#ae6b6004183efe4ba25cace4fc3f2fd4d">cam</a>.<a class="code" href="class_camera.html#a2a54ce5f1212212653acafa59809ce49">Pos</a>() - ref;</div>
<div class="line"><a name="l00499"></a><span class="lineno"> 499</span>  <a class="code" href="class_physical.html#ae6b6004183efe4ba25cace4fc3f2fd4d">cam</a>.<a class="code" href="class_camera.html#a3c12e547329d78def633eca0c1ff81fb">MoveTo</a>(new_loc);</div>
<div class="line"><a name="l00500"></a><span class="lineno"> 500</span> }</div>
<div class="line"><a name="l00501"></a><span class="lineno"> 501</span> </div>
<div class="line"><a name="l00502"></a><span class="lineno"> 502</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00503"></a><span class="lineno"><a class="code" href="class_physical.html#a2d36b9780cfaa079f7402a4d5c491c91"> 503</a></span> <a class="code" href="class_physical.html#a2d36b9780cfaa079f7402a4d5c491c91">Physical::ApplyForce</a>(<span class="keyword">const</span> <a class="code" href="struct_point.html">Point</a>& force)</div>
<div class="line"><a name="l00504"></a><span class="lineno"> 504</span> {</div>
<div class="line"><a name="l00505"></a><span class="lineno"> 505</span>  <a class="code" href="class_physical.html#a02b1afe5e027120d1e8dc445ee80143e">velocity</a> += force/<a class="code" href="class_physical.html#a7c68f6e32d5725d6ae0099400f7c0b6e">mass</a>;</div>
<div class="line"><a name="l00506"></a><span class="lineno"> 506</span> }</div>
<div class="line"><a name="l00507"></a><span class="lineno"> 507</span> </div>
<div class="line"><a name="l00508"></a><span class="lineno"> 508</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00509"></a><span class="lineno"><a class="code" href="class_physical.html#a021f0362ffa486a3b46bd727e83a5839"> 509</a></span> <a class="code" href="class_physical.html#a021f0362ffa486a3b46bd727e83a5839">Physical::ApplyTorque</a>(<span class="keyword">const</span> <a class="code" href="struct_point.html">Point</a>& torque)</div>
<div class="line"><a name="l00510"></a><span class="lineno"> 510</span> {</div>
<div class="line"><a name="l00511"></a><span class="lineno"> 511</span>  <a class="code" href="class_physical.html#af93e3c7b7e9c8978caff8f84d4f0cfb0">dr</a> += (float) (torque.<a class="code" href="struct_point.html#ab99c56589bc8ad5fa5071387110a5bc7">x</a>/<a class="code" href="class_physical.html#a7c68f6e32d5725d6ae0099400f7c0b6e">mass</a>);</div>
<div class="line"><a name="l00512"></a><span class="lineno"> 512</span>  <a class="code" href="class_physical.html#aaefd9045f896c5322df107f980249f20">dp</a> += (float) (torque.<a class="code" href="struct_point.html#afa38be143ae800e6ad69ce8ed4df62d8">y</a>/<a class="code" href="class_physical.html#a7c68f6e32d5725d6ae0099400f7c0b6e">mass</a>);</div>
<div class="line"><a name="l00513"></a><span class="lineno"> 513</span>  <a class="code" href="class_physical.html#ac6071904c1e17537adef89fbae9f3942">dy</a> += (float) (torque.<a class="code" href="struct_point.html#a05ba3b1dfcb19430582ae953cbbfbded">z</a>/<a class="code" href="class_physical.html#a7c68f6e32d5725d6ae0099400f7c0b6e">mass</a>);</div>
<div class="line"><a name="l00514"></a><span class="lineno"> 514</span> }</div>
<div class="line"><a name="l00515"></a><span class="lineno"> 515</span> </div>
<div class="line"><a name="l00516"></a><span class="lineno"> 516</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00517"></a><span class="lineno"><a class="code" href="class_physical.html#acb6369b0de01a11ae7c4135b777d7a24"> 517</a></span> <a class="code" href="class_physical.html#acb6369b0de01a11ae7c4135b777d7a24">Physical::SetThrust</a>(<span class="keywordtype">double</span> t)</div>
<div class="line"><a name="l00518"></a><span class="lineno"> 518</span> {</div>
<div class="line"><a name="l00519"></a><span class="lineno"> 519</span>  <a class="code" href="class_physical.html#ab4a9f94781e500cfc2e594d122b23927">thrust</a> = (float) t;</div>
<div class="line"><a name="l00520"></a><span class="lineno"> 520</span> }</div>
<div class="line"><a name="l00521"></a><span class="lineno"> 521</span> </div>
<div class="line"><a name="l00522"></a><span class="lineno"> 522</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00523"></a><span class="lineno"><a class="code" href="class_physical.html#af340eb740dfcd3a58abba041255f438b"> 523</a></span> <a class="code" href="class_physical.html#af340eb740dfcd3a58abba041255f438b">Physical::SetTransX</a>(<span class="keywordtype">double</span> t)</div>
<div class="line"><a name="l00524"></a><span class="lineno"> 524</span> {</div>
<div class="line"><a name="l00525"></a><span class="lineno"> 525</span>  <a class="code" href="class_physical.html#a31ee78848140bfc4a05e3ccbf6770656">trans_x</a> = (float) t;</div>
<div class="line"><a name="l00526"></a><span class="lineno"> 526</span> }</div>
<div class="line"><a name="l00527"></a><span class="lineno"> 527</span> </div>
<div class="line"><a name="l00528"></a><span class="lineno"> 528</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00529"></a><span class="lineno"><a class="code" href="class_physical.html#a0d5a6d2cfc223e6ea9661599e331aaa8"> 529</a></span> <a class="code" href="class_physical.html#a0d5a6d2cfc223e6ea9661599e331aaa8">Physical::SetTransY</a>(<span class="keywordtype">double</span> t)</div>
<div class="line"><a name="l00530"></a><span class="lineno"> 530</span> {</div>
<div class="line"><a name="l00531"></a><span class="lineno"> 531</span>  <a class="code" href="class_physical.html#a41e10f76bb0bee8782e12b1b4ff9eacc">trans_y</a> = (float) t;</div>
<div class="line"><a name="l00532"></a><span class="lineno"> 532</span> }</div>
<div class="line"><a name="l00533"></a><span class="lineno"> 533</span> </div>
<div class="line"><a name="l00534"></a><span class="lineno"> 534</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00535"></a><span class="lineno"><a class="code" href="class_physical.html#a10bef5ec31ba56a8965778a0edaddd64"> 535</a></span> <a class="code" href="class_physical.html#a10bef5ec31ba56a8965778a0edaddd64">Physical::SetTransZ</a>(<span class="keywordtype">double</span> t)</div>
<div class="line"><a name="l00536"></a><span class="lineno"> 536</span> {</div>
<div class="line"><a name="l00537"></a><span class="lineno"> 537</span>  <a class="code" href="class_physical.html#a23a156200251e24ac72d80854b870c9b">trans_z</a> = (float) t;</div>
<div class="line"><a name="l00538"></a><span class="lineno"> 538</span> }</div>
<div class="line"><a name="l00539"></a><span class="lineno"> 539</span> </div>
<div class="line"><a name="l00540"></a><span class="lineno"> 540</span> <span class="comment">// +--------------------------------------------------------------------+</span></div>
<div class="line"><a name="l00541"></a><span class="lineno"> 541</span> </div>
<div class="line"><a name="l00542"></a><span class="lineno"> 542</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00543"></a><span class="lineno"><a class="code" href="class_physical.html#af7174818ed105cf84fb3ed46f68a824c"> 543</a></span> <a class="code" href="class_physical.html#af7174818ed105cf84fb3ed46f68a824c">Physical::SetHeading</a>(<span class="keywordtype">double</span> r, <span class="keywordtype">double</span> p, <span class="keywordtype">double</span> y)</div>
<div class="line"><a name="l00544"></a><span class="lineno"> 544</span> {</div>
<div class="line"><a name="l00545"></a><span class="lineno"> 545</span>  <a class="code" href="class_physical.html#a1342854ae569c6e053a106df8e97a522">roll</a> = (float) r;</div>
<div class="line"><a name="l00546"></a><span class="lineno"> 546</span>  <a class="code" href="class_physical.html#a760b0be05697d5fbe9a652b8d9fe48d0">pitch</a> = (float) p;</div>
<div class="line"><a name="l00547"></a><span class="lineno"> 547</span>  <a class="code" href="class_physical.html#a9622775c81f1934ee5b3370008aceb15">yaw</a> = (float) y;</div>
<div class="line"><a name="l00548"></a><span class="lineno"> 548</span> </div>
<div class="line"><a name="l00549"></a><span class="lineno"> 549</span>  <a class="code" href="class_physical.html#ae6b6004183efe4ba25cace4fc3f2fd4d">cam</a>.<a class="code" href="class_camera.html#a15d2391497a071fa4c34c9192835df50">Aim</a>(<a class="code" href="class_physical.html#a1342854ae569c6e053a106df8e97a522">roll</a>, <a class="code" href="class_physical.html#a760b0be05697d5fbe9a652b8d9fe48d0">pitch</a>, <a class="code" href="class_physical.html#a9622775c81f1934ee5b3370008aceb15">yaw</a>);</div>
<div class="line"><a name="l00550"></a><span class="lineno"> 550</span> }</div>
<div class="line"><a name="l00551"></a><span class="lineno"> 551</span> </div>
<div class="line"><a name="l00552"></a><span class="lineno"> 552</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00553"></a><span class="lineno"><a class="code" href="class_physical.html#a7a21ad2f57ef7634de4cfc8403e82f1d"> 553</a></span> <a class="code" href="class_physical.html#a7a21ad2f57ef7634de4cfc8403e82f1d">Physical::LookAt</a>(<span class="keyword">const</span> <a class="code" href="struct_point.html">Point</a>& dst)</div>
<div class="line"><a name="l00554"></a><span class="lineno"> 554</span> {</div>
<div class="line"><a name="l00555"></a><span class="lineno"> 555</span>  <a class="code" href="class_physical.html#ae6b6004183efe4ba25cace4fc3f2fd4d">cam</a>.<a class="code" href="class_camera.html#ae0e2c221f049b6259251cac4c44a6c15">LookAt</a>(dst);</div>
<div class="line"><a name="l00556"></a><span class="lineno"> 556</span> }</div>
<div class="line"><a name="l00557"></a><span class="lineno"> 557</span> </div>
<div class="line"><a name="l00558"></a><span class="lineno"> 558</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00559"></a><span class="lineno"><a class="code" href="class_physical.html#abbe74c30cd25ae97fd2482dbdc7b6437"> 559</a></span> <a class="code" href="class_physical.html#abbe74c30cd25ae97fd2482dbdc7b6437">Physical::CloneCam</a>(<span class="keyword">const</span> <a class="code" href="class_camera.html">Camera</a>& c)</div>
<div class="line"><a name="l00560"></a><span class="lineno"> 560</span> {</div>
<div class="line"><a name="l00561"></a><span class="lineno"> 561</span>  <a class="code" href="class_physical.html#ae6b6004183efe4ba25cace4fc3f2fd4d">cam</a>.<a class="code" href="class_camera.html#a04eb689dabc8e56ec6098377d1321942">Clone</a>(c);</div>
<div class="line"><a name="l00562"></a><span class="lineno"> 562</span> }</div>
<div class="line"><a name="l00563"></a><span class="lineno"> 563</span> </div>
<div class="line"><a name="l00564"></a><span class="lineno"> 564</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00565"></a><span class="lineno"><a class="code" href="class_physical.html#a2cc71395813b8b47968c48ec92ce6698"> 565</a></span> <a class="code" href="class_physical.html#a2cc71395813b8b47968c48ec92ce6698">Physical::SetAbsoluteOrientation</a>(<span class="keywordtype">double</span> r, <span class="keywordtype">double</span> p, <span class="keywordtype">double</span> y)</div>
<div class="line"><a name="l00566"></a><span class="lineno"> 566</span> {</div>
<div class="line"><a name="l00567"></a><span class="lineno"> 567</span>  <a class="code" href="class_physical.html#a1342854ae569c6e053a106df8e97a522">roll</a> = (float) r;</div>
<div class="line"><a name="l00568"></a><span class="lineno"> 568</span>  <a class="code" href="class_physical.html#a760b0be05697d5fbe9a652b8d9fe48d0">pitch</a> = (float) p;</div>
<div class="line"><a name="l00569"></a><span class="lineno"> 569</span>  <a class="code" href="class_physical.html#a9622775c81f1934ee5b3370008aceb15">yaw</a> = (float) y;</div>
<div class="line"><a name="l00570"></a><span class="lineno"> 570</span> </div>
<div class="line"><a name="l00571"></a><span class="lineno"> 571</span>  <a class="code" href="class_camera.html">Camera</a> work(<a class="code" href="class_physical.html#a18d7b806f29edde8af178ae9a6d0ad90">Location</a>().x, <a class="code" href="class_physical.html#a18d7b806f29edde8af178ae9a6d0ad90">Location</a>().y, <a class="code" href="class_physical.html#a18d7b806f29edde8af178ae9a6d0ad90">Location</a>().z);</div>
<div class="line"><a name="l00572"></a><span class="lineno"> 572</span>  work.<a class="code" href="class_camera.html#a15d2391497a071fa4c34c9192835df50">Aim</a>(r,p,y);</div>
<div class="line"><a name="l00573"></a><span class="lineno"> 573</span>  <a class="code" href="class_physical.html#ae6b6004183efe4ba25cace4fc3f2fd4d">cam</a>.<a class="code" href="class_camera.html#a04eb689dabc8e56ec6098377d1321942">Clone</a>(work);</div>
<div class="line"><a name="l00574"></a><span class="lineno"> 574</span> }</div>
<div class="line"><a name="l00575"></a><span class="lineno"> 575</span> </div>
<div class="line"><a name="l00576"></a><span class="lineno"> 576</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00577"></a><span class="lineno"><a class="code" href="class_physical.html#adc0005c9ad6bea9c1beb03912ba1a079"> 577</a></span> <a class="code" href="class_physical.html#adc0005c9ad6bea9c1beb03912ba1a079">Physical::ApplyRoll</a>(<span class="keywordtype">double</span> r)</div>
<div class="line"><a name="l00578"></a><span class="lineno"> 578</span> {</div>
<div class="line"><a name="l00579"></a><span class="lineno"> 579</span>  <span class="keywordflow">if</span> (r > 1) r = 1;</div>
<div class="line"><a name="l00580"></a><span class="lineno"> 580</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (r < -1) r = -1;</div>
<div class="line"><a name="l00581"></a><span class="lineno"> 581</span> </div>
<div class="line"><a name="l00582"></a><span class="lineno"> 582</span>  <a class="code" href="class_physical.html#a700d67f9d9d134d6e89619e2ff88a03f">dr_acc</a> = (float) r * <a class="code" href="class_physical.html#a1ea11485cc2e7d937fea7593312f90d6">roll_rate</a>;</div>
<div class="line"><a name="l00583"></a><span class="lineno"> 583</span> }</div>
<div class="line"><a name="l00584"></a><span class="lineno"> 584</span> </div>
<div class="line"><a name="l00585"></a><span class="lineno"> 585</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00586"></a><span class="lineno"><a class="code" href="class_physical.html#a5137b08d6a56f79c00cc7f8b5d66a146"> 586</a></span> <a class="code" href="class_physical.html#a5137b08d6a56f79c00cc7f8b5d66a146">Physical::ApplyPitch</a>(<span class="keywordtype">double</span> p)</div>
<div class="line"><a name="l00587"></a><span class="lineno"> 587</span> {</div>
<div class="line"><a name="l00588"></a><span class="lineno"> 588</span>  <span class="keywordflow">if</span> (p > 1) p = 1;</div>
<div class="line"><a name="l00589"></a><span class="lineno"> 589</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (p < -1) p = -1;</div>
<div class="line"><a name="l00590"></a><span class="lineno"> 590</span> </div>
<div class="line"><a name="l00591"></a><span class="lineno"> 591</span>  <a class="code" href="class_physical.html#a19430528448288c4b73b17f9f0e6418c">dp_acc</a> = (float) p * <a class="code" href="class_physical.html#a8301ba8959b36ebbc1a2d66842f3fbd2">pitch_rate</a>;</div>
<div class="line"><a name="l00592"></a><span class="lineno"> 592</span> }</div>
<div class="line"><a name="l00593"></a><span class="lineno"> 593</span> </div>
<div class="line"><a name="l00594"></a><span class="lineno"> 594</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00595"></a><span class="lineno"><a class="code" href="class_physical.html#a4b5a83f5bd906e0c09ff326f5c0168a2"> 595</a></span> <a class="code" href="class_physical.html#a4b5a83f5bd906e0c09ff326f5c0168a2">Physical::ApplyYaw</a>(<span class="keywordtype">double</span> y)</div>
<div class="line"><a name="l00596"></a><span class="lineno"> 596</span> {</div>
<div class="line"><a name="l00597"></a><span class="lineno"> 597</span>  <span class="keywordflow">if</span> (y > 1) y = 1;</div>
<div class="line"><a name="l00598"></a><span class="lineno"> 598</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (y < -1) y = -1;</div>
<div class="line"><a name="l00599"></a><span class="lineno"> 599</span> </div>
<div class="line"><a name="l00600"></a><span class="lineno"> 600</span>  <a class="code" href="class_physical.html#a122baad9132db172b9e1103c736df69a">dy_acc</a> = (float) y * <a class="code" href="class_physical.html#aa84db3f80e7277daeb9720fb4de48fe1">yaw_rate</a>;</div>
<div class="line"><a name="l00601"></a><span class="lineno"> 601</span> }</div>
<div class="line"><a name="l00602"></a><span class="lineno"> 602</span> </div>
<div class="line"><a name="l00603"></a><span class="lineno"> 603</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00604"></a><span class="lineno"><a class="code" href="class_physical.html#a6fe4f81f6b9d31efe9fb2da0f9441842"> 604</a></span> <a class="code" href="class_physical.html#a6fe4f81f6b9d31efe9fb2da0f9441842">Physical::SetAngularRates</a>(<span class="keywordtype">double</span> r, <span class="keywordtype">double</span> p, <span class="keywordtype">double</span> y)</div>
<div class="line"><a name="l00605"></a><span class="lineno"> 605</span> {</div>
<div class="line"><a name="l00606"></a><span class="lineno"> 606</span>  <a class="code" href="class_physical.html#a1ea11485cc2e7d937fea7593312f90d6">roll_rate</a> = (float) r;</div>
<div class="line"><a name="l00607"></a><span class="lineno"> 607</span>  <a class="code" href="class_physical.html#a8301ba8959b36ebbc1a2d66842f3fbd2">pitch_rate</a> = (float) p;</div>
<div class="line"><a name="l00608"></a><span class="lineno"> 608</span>  <a class="code" href="class_physical.html#aa84db3f80e7277daeb9720fb4de48fe1">yaw_rate</a> = (float) y;</div>
<div class="line"><a name="l00609"></a><span class="lineno"> 609</span> }</div>
<div class="line"><a name="l00610"></a><span class="lineno"> 610</span> </div>
<div class="line"><a name="l00611"></a><span class="lineno"> 611</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00612"></a><span class="lineno"><a class="code" href="class_physical.html#a09066864123e7aef872e6e4dc12bdb3e"> 612</a></span> <a class="code" href="class_physical.html#a09066864123e7aef872e6e4dc12bdb3e">Physical::GetAngularRates</a>(<span class="keywordtype">double</span>& r, <span class="keywordtype">double</span>& p, <span class="keywordtype">double</span>& y)</div>
<div class="line"><a name="l00613"></a><span class="lineno"> 613</span> {</div>
<div class="line"><a name="l00614"></a><span class="lineno"> 614</span>  r = <a class="code" href="class_physical.html#a1ea11485cc2e7d937fea7593312f90d6">roll_rate</a>;</div>
<div class="line"><a name="l00615"></a><span class="lineno"> 615</span>  p = <a class="code" href="class_physical.html#a8301ba8959b36ebbc1a2d66842f3fbd2">pitch_rate</a>;</div>
<div class="line"><a name="l00616"></a><span class="lineno"> 616</span>  y = <a class="code" href="class_physical.html#aa84db3f80e7277daeb9720fb4de48fe1">yaw_rate</a>;</div>
<div class="line"><a name="l00617"></a><span class="lineno"> 617</span> }</div>
<div class="line"><a name="l00618"></a><span class="lineno"> 618</span> </div>
<div class="line"><a name="l00619"></a><span class="lineno"> 619</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00620"></a><span class="lineno"><a class="code" href="class_physical.html#ac280a1b30eb3ce6974ed2e8846ed0436"> 620</a></span> <a class="code" href="class_physical.html#ac280a1b30eb3ce6974ed2e8846ed0436">Physical::SetAngularDrag</a>(<span class="keywordtype">double</span> r, <span class="keywordtype">double</span> p, <span class="keywordtype">double</span> y)</div>
<div class="line"><a name="l00621"></a><span class="lineno"> 621</span> {</div>
<div class="line"><a name="l00622"></a><span class="lineno"> 622</span>  <a class="code" href="class_physical.html#aa97e3222a4d7bee7f0a86f0ddfedc729">dr_drg</a> = (float) r;</div>
<div class="line"><a name="l00623"></a><span class="lineno"> 623</span>  <a class="code" href="class_physical.html#ae0a23449b126a926c741c6dcb8650aaf">dp_drg</a> = (float) p;</div>
<div class="line"><a name="l00624"></a><span class="lineno"> 624</span>  <a class="code" href="class_physical.html#a8b54e9624bb79c518e61fde79e18393e">dy_drg</a> = (float) y;</div>
<div class="line"><a name="l00625"></a><span class="lineno"> 625</span> }</div>
<div class="line"><a name="l00626"></a><span class="lineno"> 626</span> </div>
<div class="line"><a name="l00627"></a><span class="lineno"> 627</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00628"></a><span class="lineno"><a class="code" href="class_physical.html#a3d2cd41c96af67bfe07094b54c9b2591"> 628</a></span> <a class="code" href="class_physical.html#a3d2cd41c96af67bfe07094b54c9b2591">Physical::GetAngularDrag</a>(<span class="keywordtype">double</span>& r, <span class="keywordtype">double</span>& p, <span class="keywordtype">double</span>& y)</div>
<div class="line"><a name="l00629"></a><span class="lineno"> 629</span> {</div>
<div class="line"><a name="l00630"></a><span class="lineno"> 630</span>  r = <a class="code" href="class_physical.html#aa97e3222a4d7bee7f0a86f0ddfedc729">dr_drg</a>;</div>
<div class="line"><a name="l00631"></a><span class="lineno"> 631</span>  p = <a class="code" href="class_physical.html#ae0a23449b126a926c741c6dcb8650aaf">dp_drg</a>;</div>
<div class="line"><a name="l00632"></a><span class="lineno"> 632</span>  y = <a class="code" href="class_physical.html#a8b54e9624bb79c518e61fde79e18393e">dy_drg</a>;</div>
<div class="line"><a name="l00633"></a><span class="lineno"> 633</span> }</div>
<div class="line"><a name="l00634"></a><span class="lineno"> 634</span> </div>
<div class="line"><a name="l00635"></a><span class="lineno"> 635</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00636"></a><span class="lineno"><a class="code" href="class_physical.html#aebfee03c9e62ec742802649673a0aa20"> 636</a></span> <a class="code" href="class_physical.html#aebfee03c9e62ec742802649673a0aa20">Physical::GetAngularThrust</a>(<span class="keywordtype">double</span>& r, <span class="keywordtype">double</span>& p, <span class="keywordtype">double</span>& y)</div>
<div class="line"><a name="l00637"></a><span class="lineno"> 637</span> {</div>
<div class="line"><a name="l00638"></a><span class="lineno"> 638</span>  r = 0;</div>
<div class="line"><a name="l00639"></a><span class="lineno"> 639</span>  p = 0;</div>
<div class="line"><a name="l00640"></a><span class="lineno"> 640</span>  y = 0;</div>
<div class="line"><a name="l00641"></a><span class="lineno"> 641</span> </div>
<div class="line"><a name="l00642"></a><span class="lineno"> 642</span>  <span class="keywordflow">if</span> (<a class="code" href="class_physical.html#a700d67f9d9d134d6e89619e2ff88a03f">dr_acc</a> > 0.05 * <a class="code" href="class_physical.html#a1ea11485cc2e7d937fea7593312f90d6">roll_rate</a>) r = 1;</div>
<div class="line"><a name="l00643"></a><span class="lineno"> 643</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (<a class="code" href="class_physical.html#a700d67f9d9d134d6e89619e2ff88a03f">dr_acc</a> < -0.05 * <a class="code" href="class_physical.html#a1ea11485cc2e7d937fea7593312f90d6">roll_rate</a>) r = -1;</div>
<div class="line"><a name="l00644"></a><span class="lineno"> 644</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (<a class="code" href="class_physical.html#af93e3c7b7e9c8978caff8f84d4f0cfb0">dr</a> > 0.01 * <a class="code" href="class_physical.html#a1ea11485cc2e7d937fea7593312f90d6">roll_rate</a>) r = -1;</div>
<div class="line"><a name="l00645"></a><span class="lineno"> 645</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (<a class="code" href="class_physical.html#af93e3c7b7e9c8978caff8f84d4f0cfb0">dr</a> < -0.01 * <a class="code" href="class_physical.html#a1ea11485cc2e7d937fea7593312f90d6">roll_rate</a>) r = 1;</div>
<div class="line"><a name="l00646"></a><span class="lineno"> 646</span> </div>
<div class="line"><a name="l00647"></a><span class="lineno"> 647</span>  <span class="keywordflow">if</span> (<a class="code" href="class_physical.html#a122baad9132db172b9e1103c736df69a">dy_acc</a> > 0.05 * <a class="code" href="class_physical.html#aa84db3f80e7277daeb9720fb4de48fe1">yaw_rate</a>) y = 1;</div>
<div class="line"><a name="l00648"></a><span class="lineno"> 648</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (<a class="code" href="class_physical.html#a122baad9132db172b9e1103c736df69a">dy_acc</a> < -0.05 * <a class="code" href="class_physical.html#aa84db3f80e7277daeb9720fb4de48fe1">yaw_rate</a>) y = -1;</div>
<div class="line"><a name="l00649"></a><span class="lineno"> 649</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (<a class="code" href="class_physical.html#ac6071904c1e17537adef89fbae9f3942">dy</a> > 0.01 * <a class="code" href="class_physical.html#aa84db3f80e7277daeb9720fb4de48fe1">yaw_rate</a>) y = -1;</div>
<div class="line"><a name="l00650"></a><span class="lineno"> 650</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (<a class="code" href="class_physical.html#ac6071904c1e17537adef89fbae9f3942">dy</a> < -0.01 * <a class="code" href="class_physical.html#aa84db3f80e7277daeb9720fb4de48fe1">yaw_rate</a>) y = 1;</div>
<div class="line"><a name="l00651"></a><span class="lineno"> 651</span> </div>
<div class="line"><a name="l00652"></a><span class="lineno"> 652</span>  <span class="keywordflow">if</span> (<a class="code" href="class_physical.html#a19430528448288c4b73b17f9f0e6418c">dp_acc</a> > 0.05 * <a class="code" href="class_physical.html#a8301ba8959b36ebbc1a2d66842f3fbd2">pitch_rate</a>) p = 1;</div>
<div class="line"><a name="l00653"></a><span class="lineno"> 653</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (<a class="code" href="class_physical.html#a19430528448288c4b73b17f9f0e6418c">dp_acc</a> < -0.05 * <a class="code" href="class_physical.html#a8301ba8959b36ebbc1a2d66842f3fbd2">pitch_rate</a>) p = -1;</div>
<div class="line"><a name="l00654"></a><span class="lineno"> 654</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (<a class="code" href="class_physical.html#aaefd9045f896c5322df107f980249f20">dp</a> > 0.01 * <a class="code" href="class_physical.html#a8301ba8959b36ebbc1a2d66842f3fbd2">pitch_rate</a>) p = -1;</div>
<div class="line"><a name="l00655"></a><span class="lineno"> 655</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (<a class="code" href="class_physical.html#aaefd9045f896c5322df107f980249f20">dp</a> < -0.01 * <a class="code" href="class_physical.html#a8301ba8959b36ebbc1a2d66842f3fbd2">pitch_rate</a>) p = 1;</div>
<div class="line"><a name="l00656"></a><span class="lineno"> 656</span> }</div>
<div class="line"><a name="l00657"></a><span class="lineno"> 657</span> </div>
<div class="line"><a name="l00658"></a><span class="lineno"> 658</span> </div>
<div class="line"><a name="l00659"></a><span class="lineno"> 659</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00660"></a><span class="lineno"><a class="code" href="class_physical.html#a2e44e8b8d36e7664301923699854e1d3"> 660</a></span> <a class="code" href="class_physical.html#a2e44e8b8d36e7664301923699854e1d3">Physical::SetPrimary</a>(<span class="keyword">const</span> <a class="code" href="struct_point.html">Point</a>& l, <span class="keywordtype">double</span> m)</div>
<div class="line"><a name="l00661"></a><span class="lineno"> 661</span> {</div>
<div class="line"><a name="l00662"></a><span class="lineno"> 662</span>  <a class="code" href="class_physical.html#ac64ba8dfcf6923b8cb9e6a00d7b5023f">primary_loc</a> = l;</div>
<div class="line"><a name="l00663"></a><span class="lineno"> 663</span>  <a class="code" href="class_physical.html#afd82688e691f376ee8f1887638032800">primary_mass</a> = m;</div>
<div class="line"><a name="l00664"></a><span class="lineno"> 664</span> }</div>
<div class="line"><a name="l00665"></a><span class="lineno"> 665</span> </div>
<div class="line"><a name="l00666"></a><span class="lineno"> 666</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00667"></a><span class="lineno"><a class="code" href="class_physical.html#a27342f7cf678159a9c56a1c9c4e8d918"> 667</a></span> <a class="code" href="class_physical.html#a27342f7cf678159a9c56a1c9c4e8d918">Physical::SetGravity</a>(<span class="keywordtype">double</span> g)</div>
<div class="line"><a name="l00668"></a><span class="lineno"> 668</span> {</div>
<div class="line"><a name="l00669"></a><span class="lineno"> 669</span>  <span class="keywordflow">if</span> (g >= 0)</div>
<div class="line"><a name="l00670"></a><span class="lineno"> 670</span>  <a class="code" href="class_physical.html#ab29b630ea2ca882c805e3c4feb9a8061">g_accel</a> = (float) g;</div>
<div class="line"><a name="l00671"></a><span class="lineno"> 671</span> }</div>
<div class="line"><a name="l00672"></a><span class="lineno"> 672</span> </div>
<div class="line"><a name="l00673"></a><span class="lineno"> 673</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00674"></a><span class="lineno"><a class="code" href="class_physical.html#a21d9cb466d59d3854164f0124290d5e2"> 674</a></span> <a class="code" href="class_physical.html#a21d9cb466d59d3854164f0124290d5e2">Physical::SetBaseDensity</a>(<span class="keywordtype">double</span> d)</div>
<div class="line"><a name="l00675"></a><span class="lineno"> 675</span> {</div>
<div class="line"><a name="l00676"></a><span class="lineno"> 676</span>  <span class="keywordflow">if</span> (d >= 0)</div>
<div class="line"><a name="l00677"></a><span class="lineno"> 677</span>  <a class="code" href="class_physical.html#a4c1342675b4479b75d8dc07b879b7932">Do</a> = (float) d;</div>
<div class="line"><a name="l00678"></a><span class="lineno"> 678</span> }</div>
<div class="line"><a name="l00679"></a><span class="lineno"> 679</span> </div>
<div class="line"><a name="l00680"></a><span class="lineno"> 680</span> <span class="comment">// +--------------------------------------------------------------------+</span></div>
<div class="line"><a name="l00681"></a><span class="lineno"> 681</span> </div>
<div class="line"><a name="l00682"></a><span class="lineno"> 682</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00683"></a><span class="lineno"><a class="code" href="class_physical.html#a90321d772170e0ff0745667aad65cf65"> 683</a></span> <a class="code" href="class_physical.html#a90321d772170e0ff0745667aad65cf65">Physical::InflictDamage</a>(<span class="keywordtype">double</span> damage, <span class="keywordtype">int</span> <span class="comment">/*type*/</span>)</div>
<div class="line"><a name="l00684"></a><span class="lineno"> 684</span> {</div>
<div class="line"><a name="l00685"></a><span class="lineno"> 685</span>  <a class="code" href="class_physical.html#a8e2b75659beeba7ed86a6f1199260c1c">integrity</a> -= (float) damage;</div>
<div class="line"><a name="l00686"></a><span class="lineno"> 686</span> </div>
<div class="line"><a name="l00687"></a><span class="lineno"> 687</span>  <span class="keywordflow">if</span> (<a class="code" href="class_physical.html#a8e2b75659beeba7ed86a6f1199260c1c">integrity</a> < 1.0f)</div>
<div class="line"><a name="l00688"></a><span class="lineno"> 688</span>  <a class="code" href="class_physical.html#a8e2b75659beeba7ed86a6f1199260c1c">integrity</a> = 0.0f;</div>
<div class="line"><a name="l00689"></a><span class="lineno"> 689</span> }</div>
<div class="line"><a name="l00690"></a><span class="lineno"> 690</span> </div>
<div class="line"><a name="l00691"></a><span class="lineno"> 691</span> <span class="comment">// +--------------------------------------------------------------------+</span></div>
<div class="line"><a name="l00692"></a><span class="lineno"> 692</span> </div>
<div class="line"><a name="l00693"></a><span class="lineno"> 693</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00694"></a><span class="lineno"><a class="code" href="class_physical.html#a07ea38d0c62738583a283dc805ab7948"> 694</a></span> <a class="code" href="class_physical.html#a07ea38d0c62738583a283dc805ab7948">Physical::CollidesWith</a>(<a class="code" href="class_physical.html">Physical</a>& o)</div>
<div class="line"><a name="l00695"></a><span class="lineno"> 695</span> {</div>
<div class="line"><a name="l00696"></a><span class="lineno"> 696</span>  <span class="comment">// representation collision test (will do bounding spheres first):</span></div>
<div class="line"><a name="l00697"></a><span class="lineno"> 697</span>  <span class="keywordflow">if</span> (<a class="code" href="class_physical.html#a3adbf31fe8d940401e6b12ccb275432e">rep</a> && o.<a class="code" href="class_physical.html#a3adbf31fe8d940401e6b12ccb275432e">rep</a>)</div>
<div class="line"><a name="l00698"></a><span class="lineno"> 698</span>  <span class="keywordflow">return</span> <a class="code" href="class_physical.html#a3adbf31fe8d940401e6b12ccb275432e">rep</a>-><a class="code" href="class_graphic.html#a82b6b1cbe1beb025e432f72fdb272646">CollidesWith</a>(*o.<a class="code" href="class_physical.html#a3adbf31fe8d940401e6b12ccb275432e">rep</a>);</div>
<div class="line"><a name="l00699"></a><span class="lineno"> 699</span> </div>
<div class="line"><a name="l00700"></a><span class="lineno"> 700</span>  <a class="code" href="struct_point.html">Point</a> delta_loc = <a class="code" href="class_physical.html#a18d7b806f29edde8af178ae9a6d0ad90">Location</a>() - o.<a class="code" href="class_physical.html#a18d7b806f29edde8af178ae9a6d0ad90">Location</a>();</div>
<div class="line"><a name="l00701"></a><span class="lineno"> 701</span> </div>
<div class="line"><a name="l00702"></a><span class="lineno"> 702</span>  <span class="comment">// bounding spheres test:</span></div>
<div class="line"><a name="l00703"></a><span class="lineno"> 703</span>  <span class="keywordflow">if</span> (delta_loc.<a class="code" href="struct_point.html#a8ebcce847b8c214b7351904ce60f5518">length</a>() > <a class="code" href="class_physical.html#a339bd272f6c690c23b64eb9419d039ec">radius</a> + o.<a class="code" href="class_physical.html#a339bd272f6c690c23b64eb9419d039ec">radius</a>)</div>
<div class="line"><a name="l00704"></a><span class="lineno"> 704</span>  <span class="keywordflow">return</span> 0;</div>
<div class="line"><a name="l00705"></a><span class="lineno"> 705</span> </div>
<div class="line"><a name="l00706"></a><span class="lineno"> 706</span>  <span class="comment">// assume collision:</span></div>
<div class="line"><a name="l00707"></a><span class="lineno"> 707</span>  <span class="keywordflow">return</span> 1;</div>
<div class="line"><a name="l00708"></a><span class="lineno"> 708</span> }</div>
<div class="line"><a name="l00709"></a><span class="lineno"> 709</span> </div>
<div class="line"><a name="l00710"></a><span class="lineno"> 710</span> </div>
<div class="line"><a name="l00711"></a><span class="lineno"> 711</span> <span class="comment">// +--------------------------------------------------------------------+</span></div>
<div class="line"><a name="l00712"></a><span class="lineno"> 712</span> </div>
<div class="line"><a name="l00713"></a><span class="lineno"> 713</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00714"></a><span class="lineno"><a class="code" href="class_physical.html#a89458e37a410badba4643bc25c5ad4ac"> 714</a></span> <a class="code" href="class_physical.html#a89458e37a410badba4643bc25c5ad4ac">Physical::ElasticCollision</a>(<a class="code" href="class_physical.html">Physical</a>& a, <a class="code" href="class_physical.html">Physical</a>& b)</div>
<div class="line"><a name="l00715"></a><span class="lineno"> 715</span> {</div>
<div class="line"><a name="l00716"></a><span class="lineno"> 716</span>  <span class="keywordtype">double</span> mass_sum = a.<a class="code" href="class_physical.html#a7c68f6e32d5725d6ae0099400f7c0b6e">mass</a> + b.<a class="code" href="class_physical.html#a7c68f6e32d5725d6ae0099400f7c0b6e">mass</a>;</div>
<div class="line"><a name="l00717"></a><span class="lineno"> 717</span>  <span class="keywordtype">double</span> mass_delta = a.<a class="code" href="class_physical.html#a7c68f6e32d5725d6ae0099400f7c0b6e">mass</a> - b.<a class="code" href="class_physical.html#a7c68f6e32d5725d6ae0099400f7c0b6e">mass</a>;</div>
<div class="line"><a name="l00718"></a><span class="lineno"> 718</span> </div>
<div class="line"><a name="l00719"></a><span class="lineno"> 719</span>  <a class="code" href="struct_point.html">Point</a> vel_a = (<a class="code" href="struct_point.html">Point</a>(b.<a class="code" href="class_physical.html#a02b1afe5e027120d1e8dc445ee80143e">velocity</a>) * (2 * b.<a class="code" href="class_physical.html#a7c68f6e32d5725d6ae0099400f7c0b6e">mass</a>) + <a class="code" href="struct_point.html">Point</a>(a.<a class="code" href="class_physical.html#a02b1afe5e027120d1e8dc445ee80143e">velocity</a>) * mass_delta) * (1/mass_sum);</div>
<div class="line"><a name="l00720"></a><span class="lineno"> 720</span>  <a class="code" href="struct_point.html">Point</a> vel_b = (<a class="code" href="struct_point.html">Point</a>(a.<a class="code" href="class_physical.html#a02b1afe5e027120d1e8dc445ee80143e">velocity</a>) * (2 * a.<a class="code" href="class_physical.html#a7c68f6e32d5725d6ae0099400f7c0b6e">mass</a>) - <a class="code" href="struct_point.html">Point</a>(b.<a class="code" href="class_physical.html#a02b1afe5e027120d1e8dc445ee80143e">velocity</a>) * mass_delta) * (1/mass_sum);</div>
<div class="line"><a name="l00721"></a><span class="lineno"> 721</span> </div>
<div class="line"><a name="l00722"></a><span class="lineno"> 722</span>  a.<a class="code" href="class_physical.html#a02b1afe5e027120d1e8dc445ee80143e">velocity</a> = vel_a;</div>
<div class="line"><a name="l00723"></a><span class="lineno"> 723</span>  b.<a class="code" href="class_physical.html#a02b1afe5e027120d1e8dc445ee80143e">velocity</a> = vel_b;</div>
<div class="line"><a name="l00724"></a><span class="lineno"> 724</span> }</div>
<div class="line"><a name="l00725"></a><span class="lineno"> 725</span> </div>
<div class="line"><a name="l00726"></a><span class="lineno"> 726</span> <span class="comment">// +--------------------------------------------------------------------+</span></div>
<div class="line"><a name="l00727"></a><span class="lineno"> 727</span> </div>
<div class="line"><a name="l00728"></a><span class="lineno"> 728</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00729"></a><span class="lineno"><a class="code" href="class_physical.html#aee52dc7ccefe77aaf739139f10272a11"> 729</a></span> <a class="code" href="class_physical.html#aee52dc7ccefe77aaf739139f10272a11">Physical::InelasticCollision</a>(<a class="code" href="class_physical.html">Physical</a>& a, <a class="code" href="class_physical.html">Physical</a>& b)</div>
<div class="line"><a name="l00730"></a><span class="lineno"> 730</span> {</div>
<div class="line"><a name="l00731"></a><span class="lineno"> 731</span>  <span class="keywordtype">double</span> mass_sum = a.<a class="code" href="class_physical.html#a7c68f6e32d5725d6ae0099400f7c0b6e">mass</a> + b.<a class="code" href="class_physical.html#a7c68f6e32d5725d6ae0099400f7c0b6e">mass</a>;</div>
<div class="line"><a name="l00732"></a><span class="lineno"> 732</span> </div>
<div class="line"><a name="l00733"></a><span class="lineno"> 733</span>  <a class="code" href="struct_point.html">Point</a> vel_a = (<a class="code" href="struct_point.html">Point</a>(a.<a class="code" href="class_physical.html#a02b1afe5e027120d1e8dc445ee80143e">velocity</a>) * a.<a class="code" href="class_physical.html#a7c68f6e32d5725d6ae0099400f7c0b6e">mass</a> + <a class="code" href="struct_point.html">Point</a>(b.<a class="code" href="class_physical.html#a02b1afe5e027120d1e8dc445ee80143e">velocity</a>) * b.<a class="code" href="class_physical.html#a7c68f6e32d5725d6ae0099400f7c0b6e">mass</a>) * (1/mass_sum);</div>
<div class="line"><a name="l00734"></a><span class="lineno"> 734</span> </div>
<div class="line"><a name="l00735"></a><span class="lineno"> 735</span>  a.<a class="code" href="class_physical.html#a02b1afe5e027120d1e8dc445ee80143e">velocity</a> = vel_a;</div>
<div class="line"><a name="l00736"></a><span class="lineno"> 736</span>  b.<a class="code" href="class_physical.html#a02b1afe5e027120d1e8dc445ee80143e">velocity</a> = vel_a;</div>
<div class="line"><a name="l00737"></a><span class="lineno"> 737</span> }</div>
<div class="line"><a name="l00738"></a><span class="lineno"> 738</span> </div>
<div class="line"><a name="l00739"></a><span class="lineno"> 739</span> <span class="comment">// +--------------------------------------------------------------------+</span></div>
<div class="line"><a name="l00740"></a><span class="lineno"> 740</span> </div>
<div class="line"><a name="l00741"></a><span class="lineno"> 741</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00742"></a><span class="lineno"><a class="code" href="class_physical.html#a137f3bbbb873bf5c95ac86585fec0084"> 742</a></span> <a class="code" href="class_physical.html#a137f3bbbb873bf5c95ac86585fec0084">Physical::SemiElasticCollision</a>(<a class="code" href="class_physical.html">Physical</a>& a, <a class="code" href="class_physical.html">Physical</a>& b)</div>
<div class="line"><a name="l00743"></a><span class="lineno"> 743</span> {</div>
<div class="line"><a name="l00744"></a><span class="lineno"> 744</span>  <span class="keywordtype">double</span> mass_sum = a.<a class="code" href="class_physical.html#a7c68f6e32d5725d6ae0099400f7c0b6e">mass</a> + b.<a class="code" href="class_physical.html#a7c68f6e32d5725d6ae0099400f7c0b6e">mass</a>;</div>
<div class="line"><a name="l00745"></a><span class="lineno"> 745</span>  <span class="keywordtype">double</span> mass_delta = a.<a class="code" href="class_physical.html#a7c68f6e32d5725d6ae0099400f7c0b6e">mass</a> - b.<a class="code" href="class_physical.html#a7c68f6e32d5725d6ae0099400f7c0b6e">mass</a>;</div>
<div class="line"><a name="l00746"></a><span class="lineno"> 746</span> </div>
<div class="line"><a name="l00747"></a><span class="lineno"> 747</span>  <a class="code" href="struct_point.html">Point</a> avel = a.<a class="code" href="class_physical.html#a60c5e5f05f780f8accae363e9748131c">Velocity</a>();</div>
<div class="line"><a name="l00748"></a><span class="lineno"> 748</span>  <a class="code" href="struct_point.html">Point</a> bvel = b.<a class="code" href="class_physical.html#a60c5e5f05f780f8accae363e9748131c">Velocity</a>();</div>
<div class="line"><a name="l00749"></a><span class="lineno"> 749</span>  <a class="code" href="struct_point.html">Point</a> dv = avel - bvel;</div>
<div class="line"><a name="l00750"></a><span class="lineno"> 750</span> </div>
<div class="line"><a name="l00751"></a><span class="lineno"> 751</span>  <span class="comment">// low delta-v: stick</span></div>
<div class="line"><a name="l00752"></a><span class="lineno"> 752</span>  <span class="keywordflow">if</span> (dv.<a class="code" href="struct_point.html#a8ebcce847b8c214b7351904ce60f5518">length</a>() < 20) {</div>
<div class="line"><a name="l00753"></a><span class="lineno"> 753</span>  <span class="keywordflow">if</span> (a.<a class="code" href="class_physical.html#a7c68f6e32d5725d6ae0099400f7c0b6e">mass</a> > b.<a class="code" href="class_physical.html#a7c68f6e32d5725d6ae0099400f7c0b6e">mass</a>) {</div>
<div class="line"><a name="l00754"></a><span class="lineno"> 754</span>  b.<a class="code" href="class_physical.html#a02b1afe5e027120d1e8dc445ee80143e">velocity</a> = a.<a class="code" href="class_physical.html#a02b1afe5e027120d1e8dc445ee80143e">velocity</a>;</div>
<div class="line"><a name="l00755"></a><span class="lineno"> 755</span>  }</div>
<div class="line"><a name="l00756"></a><span class="lineno"> 756</span> </div>
<div class="line"><a name="l00757"></a><span class="lineno"> 757</span>  <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00758"></a><span class="lineno"> 758</span>  a.<a class="code" href="class_physical.html#a02b1afe5e027120d1e8dc445ee80143e">velocity</a> = b.<a class="code" href="class_physical.html#a02b1afe5e027120d1e8dc445ee80143e">velocity</a>;</div>
<div class="line"><a name="l00759"></a><span class="lineno"> 759</span>  }</div>
<div class="line"><a name="l00760"></a><span class="lineno"> 760</span>  }</div>
<div class="line"><a name="l00761"></a><span class="lineno"> 761</span> </div>
<div class="line"><a name="l00762"></a><span class="lineno"> 762</span>  <span class="comment">// high delta-v: bounce</span></div>
<div class="line"><a name="l00763"></a><span class="lineno"> 763</span>  <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00764"></a><span class="lineno"> 764</span>  <a class="code" href="struct_point.html">Point</a> Ve_a = (bvel * (2 * b.<a class="code" href="class_physical.html#a7c68f6e32d5725d6ae0099400f7c0b6e">mass</a>) + avel * mass_delta) * (1/mass_sum) * 0.65;</div>
<div class="line"><a name="l00765"></a><span class="lineno"> 765</span>  <a class="code" href="struct_point.html">Point</a> Ve_b = (avel * (2 * a.<a class="code" href="class_physical.html#a7c68f6e32d5725d6ae0099400f7c0b6e">mass</a>) - bvel * mass_delta) * (1/mass_sum) * 0.65;</div>
<div class="line"><a name="l00766"></a><span class="lineno"> 766</span>  <a class="code" href="struct_point.html">Point</a> Vi_ab = (avel * a.<a class="code" href="class_physical.html#a7c68f6e32d5725d6ae0099400f7c0b6e">mass</a> + bvel * b.<a class="code" href="class_physical.html#a7c68f6e32d5725d6ae0099400f7c0b6e">mass</a>) * (1/mass_sum) * 0.35;</div>
<div class="line"><a name="l00767"></a><span class="lineno"> 767</span> </div>
<div class="line"><a name="l00768"></a><span class="lineno"> 768</span>  a.<a class="code" href="class_physical.html#aed93819206c4ca747edf57ba36e930e2">arcade_velocity</a> = <a class="code" href="struct_point.html">Point</a>();</div>
<div class="line"><a name="l00769"></a><span class="lineno"> 769</span>  b.<a class="code" href="class_physical.html#aed93819206c4ca747edf57ba36e930e2">arcade_velocity</a> = <a class="code" href="struct_point.html">Point</a>();</div>
<div class="line"><a name="l00770"></a><span class="lineno"> 770</span> </div>
<div class="line"><a name="l00771"></a><span class="lineno"> 771</span>  a.<a class="code" href="class_physical.html#a02b1afe5e027120d1e8dc445ee80143e">velocity</a> = Ve_a + Vi_ab;</div>
<div class="line"><a name="l00772"></a><span class="lineno"> 772</span>  b.<a class="code" href="class_physical.html#a02b1afe5e027120d1e8dc445ee80143e">velocity</a> = Ve_b + Vi_ab;</div>
<div class="line"><a name="l00773"></a><span class="lineno"> 773</span>  }</div>
<div class="line"><a name="l00774"></a><span class="lineno"> 774</span> }</div>
<div class="line"><a name="l00775"></a><span class="lineno"> 775</span> </div>
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