/*
Perform Simulation
*/
public void simulate(float dt) {
// Accelerate angular speed
float requiredSpeed = targetAngularSpeed - angularSpeed;
float angularAccel = requiredSpeed / dt;
angularAccel = PApplet.constrain(angularAccel, -maxAngularAccel, maxAngularAccel);
// Limit Angular speed
angularSpeed += angularAccel * dt;
angularSpeed = PApplet.constrain(angularSpeed, -maxAngularSpeed, maxAngularSpeed);
// Orientation Simulation
orientation += angularSpeed * dt;
// Position simulation
PVector worldRequiredSpeed = targetSpeed.get();
worldRequiredSpeed.rotate(orientation);
worldRequiredSpeed.sub(speed);
// PVector worldRequiredSpeed = worldTargetSpeed.get();
float dSpeed = worldRequiredSpeed.mag();
float dAcell = dSpeed / dt;
float dForce = Math.min(dAcell * getMass(), motorForce);
worldRequiredSpeed.normalize();
worldRequiredSpeed.mult(dForce);
force.add(worldRequiredSpeed);
super.simulate(dt);
}
/**
* Retrieves the data associated with a given audio frame.
*
* @param inpFrameIdx Index of the desired audio frame.
* @return Array of float values representing the data for this audio frame.
*/
private float[] rtrvAudioFrameData(int inpFrameIdx) {
float[] rtnFrameData = new float[_frameDataCntNbr];
inpFrameIdx = PApplet.constrain(inpFrameIdx, 0, _audioFrameCnt - 1);
for (int bufferIdx = 0; bufferIdx < _frameDataCntNbr; bufferIdx++) {
rtnFrameData[bufferIdx] = _musicData[inpFrameIdx][bufferIdx];
}
return rtnFrameData;
}
private final float constrain(float v, float l, float u) {
return parent.constrain(v, l, u);
}