initial

delort · Nov 22, 2017 · 400b024 · 400b024
1 parent a62163c
commit 400b024
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Showing 3 changed files with 29 additions and 17 deletions.
diff --git a/Unreal/Plugins/AirSim/Source/CameraDirector.cpp b/Unreal/Plugins/AirSim/Source/CameraDirector.cpp
@@ -28,7 +28,7 @@ void ACameraDirector::Tick(float DeltaTime)
     Super::Tick(DeltaTime);
 
     if (mode_ == ECameraDirectorMode::CAMERA_DIRECTOR_MODE_MANUAL) {
-        manual_pose_controller_->updateActorPose();
+        manual_pose_controller_->updateActorPose(DeltaTime);
     }
     else if (mode_ == ECameraDirectorMode::CAMERA_DIRECTOR_MODE_SPRINGARM_CHASE) {
         //do nothing

diff --git a/Unreal/Plugins/AirSim/Source/ManualPoseController.cpp b/Unreal/Plugins/AirSim/Source/ManualPoseController.cpp
@@ -41,9 +41,11 @@ AActor* UManualPoseController::getActor() const
     return actor_;
 }
 
-void UManualPoseController::updateActorPose()
+void UManualPoseController::updateActorPose(float delta_sec)
 {
     if (actor_ != nullptr) {
+        updateDeltaPosition(delta_sec);
+
         FVector location = actor_->GetActorLocation();
         FRotator rotation = actor_->GetActorRotation();
         actor_->SetActorLocationAndRotation(location + delta_position_, rotation + delta_rotation_);
@@ -65,7 +67,7 @@ void UManualPoseController::getActorDeltaPose(FVector& delta_position, FRotator&
 
 void UManualPoseController::resetDelta()
 {
-    delta_position_ = FVector::ZeroVector;
+    delta_position_ = input_positive_ = inpute_negative_ = last_velocity_ = FVector::ZeroVector;
     delta_rotation_ = FRotator::ZeroRotator;
 }
 
@@ -107,36 +109,40 @@ void UManualPoseController::enableBindings(bool enable)
     right_yaw_binding_->bConsumeInput = down_pitch_binding_->bConsumeInput = enable;
 }
 
-void UManualPoseController::inputManualLeft(float val)
+void UManualPoseController::updateDeltaPosition(float delta_sec)
 {
-    if (!FMath::IsNearlyEqual(val, 0.f)) {
-        delta_position_ += actor_->GetActorRotation().RotateVector(FVector(0,-val*10,0));
+    FVector input = input_positive_ - inpute_negative_;
+    if (!FMath::IsNearlyZero(input.SizeSquared())) {
+        last_velocity_ += input * (acceleration_ * delta_sec);
+        delta_position_ += actor_->GetActorRotation().RotateVector(last_velocity_ * delta_sec);
+    } else {
+        delta_position_ = last_velocity_ = FVector::ZeroVector;
     }
 }
+
+void UManualPoseController::inputManualLeft(float val)
+{
+    inpute_negative_.Y = val;
+}
 void UManualPoseController::inputManualRight(float val)
 {
-    if (!FMath::IsNearlyEqual(val, 0.f))
-        delta_position_ += actor_->GetActorRotation().RotateVector(FVector(0, val * 10, 0));
+    input_positive_.Y = val;
 }
 void UManualPoseController::inputManualForward(float val)
 {
-    if (!FMath::IsNearlyEqual(val, 0.f))
-        delta_position_ += actor_->GetActorRotation().RotateVector(FVector(val * 10, 0, 0));
+    input_positive_.X = val;
 }
 void UManualPoseController::inputManualBackward(float val)
 {
-    if (!FMath::IsNearlyEqual(val, 0.f))
-        delta_position_ += actor_->GetActorRotation().RotateVector(FVector(-val * 10, 0, 0));
+    inpute_negative_.X = val;
 }
 void UManualPoseController::inputManualMoveUp(float val)
 {
-    if (!FMath::IsNearlyEqual(val, 0.f))
-        delta_position_ += actor_->GetActorRotation().RotateVector(FVector(0, 0, val * 10));
+    input_positive_.Z = val;
 }
 void UManualPoseController::inputManualDown(float val)
 {
-    if (!FMath::IsNearlyEqual(val, 0.f))
-        delta_position_ += actor_->GetActorRotation().RotateVector(FVector(0, 0, -val * 10));
+    inpute_negative_.Z = val;
 }
 void UManualPoseController::inputManualLeftYaw(float val)
 {

diff --git a/Unreal/Plugins/AirSim/Source/ManualPoseController.h b/Unreal/Plugins/AirSim/Source/ManualPoseController.h
@@ -12,7 +12,7 @@ class AIRSIM_API UManualPoseController : public UObject {
     void initializeForPlay();
     void setActor(AActor* actor, bool enable_binding = true);
     AActor* getActor() const;
-    void updateActorPose();
+    void updateActorPose(float delta_sec);
     void restoreLastActor();
     void enableBindings(bool enable);
     void getActorDeltaPose(FVector& delta_position, FRotator& delta_rotation, bool reset_delta);
@@ -32,6 +32,8 @@ class AIRSIM_API UManualPoseController : public UObject {
     void setupInputBindings();	
     void removeInputBindings();
     void resetDelta();
+    void updateDeltaPosition(float delta_sec);
+
 
 private:
     FInputAxisBinding *left_binding_, *right_binding_, *up_binding_, *down_binding_;
@@ -47,4 +49,8 @@ class AIRSIM_API UManualPoseController : public UObject {
     FRotator delta_rotation_;
 
     AActor *actor_, *last_actor_;
+
+    float acceleration_ = 10;
+    FVector input_positive_, inpute_negative_;
+    FVector last_velocity_;
 };