Alvaro Cassinelli / Mbed 2 deprecated skinGames_II

save loops

Dependencies:   mbed

classPointMass.h@1:3be7b7d050f4, 2014-12-02 (annotated)

Committer:
mbedalvaro
Date:
Tue Dec 02 08:29:59 2014 +0000
Revision:
1:3be7b7d050f4
Parent:
0:df6fdd9b99f0 
updated

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbedalvaro 0:df6fdd9b99f0 1 /*
mbedalvaro 0:df6fdd9b99f0 2 * pointMass.h
mbedalvaro 0:df6fdd9b99f0 3 * laserBlob
mbedalvaro 0:df6fdd9b99f0 4 *
mbedalvaro 0:df6fdd9b99f0 5 * Created by CASSINELLI ALVARO on 5/19/11.
mbedalvaro 0:df6fdd9b99f0 6 * Copyright 2011 TOKYO UNIVERSITY. All rights reserved.
mbedalvaro 0:df6fdd9b99f0 7 *
mbedalvaro 0:df6fdd9b99f0 8 */
mbedalvaro 0:df6fdd9b99f0 9
mbedalvaro 0:df6fdd9b99f0 10 #ifndef POINTMASS_H
mbedalvaro 0:df6fdd9b99f0 11 #define POINTMASS_H
mbedalvaro 0:df6fdd9b99f0 12
mbedalvaro 0:df6fdd9b99f0 13 #include "myVectorClass.h"
mbedalvaro 0:df6fdd9b99f0 14
mbedalvaro 0:df6fdd9b99f0 15 #define VERLET_METHOD // comment this to have EULER method
mbedalvaro 0:df6fdd9b99f0 16
mbedalvaro 0:df6fdd9b99f0 17 #define MAX_PERMISSIBLE_SPEED 35
mbedalvaro 0:df6fdd9b99f0 18
mbedalvaro 0:df6fdd9b99f0 19 class pointMass
mbedalvaro 0:df6fdd9b99f0 20 {
mbedalvaro 0:df6fdd9b99f0 21 public:
mbedalvaro 0:df6fdd9b99f0 22
mbedalvaro 0:df6fdd9b99f0 23 // ==================================== Static variables and methods ==============
mbedalvaro 0:df6fdd9b99f0 24 static vector2Df maxWall, minWall; //equal for ALL THE MASS OBJECTS (declare static). But it could be per-mass. The problem with that approach would be too much wasted memory.
mbedalvaro 0:df6fdd9b99f0 25 // NOTE: - a static member variable has the same value in any instance of the class and doesn't even require an instance of the class to exist.
mbedalvaro 0:df6fdd9b99f0 26 // - a static class member cannot be initialized inside of the class declaration. In fact, if you decide to put your code in a header file, you cannot even initialize the static variable
mbedalvaro 0:df6fdd9b99f0 27 // inside of the header file; do it in a .cpp file instead. Moreover, you are required to initialize the static class member or it will not be in scope.
mbedalvaro 0:df6fdd9b99f0 28 // The syntax is a bit weird: "type class_name::static_variable = value", or in this case vector2Df pointMass::maxWall(4095, 4095)
mbedalvaro 0:df6fdd9b99f0 29
mbedalvaro 0:df6fdd9b99f0 30 // methods:
mbedalvaro 0:df6fdd9b99f0 31 static void setWallLimits(float mminx, float mminy, float mmaxx, float mmaxy);
mbedalvaro 0:df6fdd9b99f0 32
mbedalvaro 0:df6fdd9b99f0 33 // ==================================== METHODS ====================================
mbedalvaro 0:df6fdd9b99f0 34 pointMass();
mbedalvaro 0:df6fdd9b99f0 35 virtual ~pointMass(){};
mbedalvaro 0:df6fdd9b99f0 36
mbedalvaro 0:df6fdd9b99f0 37 // Adding forces to total force:
mbedalvaro 0:df6fdd9b99f0 38 void resetForce();
mbedalvaro 0:df6fdd9b99f0 39 void addForce(float x, float y);
mbedalvaro 0:df6fdd9b99f0 40 void addForce(vector2Df force);
mbedalvaro 0:df6fdd9b99f0 41 void addDampingForce();
mbedalvaro 0:df6fdd9b99f0 42 void addInvSquareForce(float x, float y, float radiusMax, float radiusMin, float scale);
mbedalvaro 0:df6fdd9b99f0 43 void addInterInvSquareForce(pointMass &p, float radiusMin, float radiusMax, float scale);
mbedalvaro 0:df6fdd9b99f0 44
mbedalvaro 0:df6fdd9b99f0 45 // (a blob object could be defined by a "cord" of chained particles, plus a center)
mbedalvaro 0:df6fdd9b99f0 46 void addSpringForce(float x, float y, float radius, float scale);
mbedalvaro 0:df6fdd9b99f0 47 void addInterSpringForce(pointMass &p, float radius, float scale);
mbedalvaro 0:df6fdd9b99f0 48 //void addClockwiseForce(particle &p, float radius, float scale);
mbedalvaro 0:df6fdd9b99f0 49 //void addCounterClockwiseForce(particle &p, float radius, float scale);
mbedalvaro 0:df6fdd9b99f0 50
mbedalvaro 0:df6fdd9b99f0 51 //void addDampingForce(); // this work in the case of the euler integration; in case of Verlet, we need to do pseudo-damping while calculating
mbedalvaro 0:df6fdd9b99f0 52 // the acceleration...
mbedalvaro 0:df6fdd9b99f0 53
mbedalvaro 0:df6fdd9b99f0 54 // Set parameters:
mbedalvaro 0:df6fdd9b99f0 55 void setInitialCondition(float px, float py, float vx, float vy);
mbedalvaro 0:df6fdd9b99f0 56 void setInitialCondition(vector2Df _pos, vector2Df _speed);
mbedalvaro 0:df6fdd9b99f0 57 void setIntegrationStep(float _dt);
mbedalvaro 0:df6fdd9b99f0 58
mbedalvaro 0:df6fdd9b99f0 59 void setPos(float px, float py); // assuming the speed is unchanged (must do some tweaking in case of Verlet integration)
mbedalvaro 0:df6fdd9b99f0 60
mbedalvaro 0:df6fdd9b99f0 61 // dynamic update:
mbedalvaro 0:df6fdd9b99f0 62 void update();
mbedalvaro 0:df6fdd9b99f0 63
mbedalvaro 0:df6fdd9b99f0 64 // kinematic constraints (could be based on a force too...)
mbedalvaro 0:df6fdd9b99f0 65 //void setWallLimits(float mminx, float mminy, float mmaxx, float mmaxy); // DECLARED STATIC
mbedalvaro 0:df6fdd9b99f0 66 void bounceOffWalls();
mbedalvaro 0:df6fdd9b99f0 67
mbedalvaro 0:df6fdd9b99f0 68 vector2Df getSpeed(); // get an estimation of the speed (also update speed variable - this variable is not needed in case of VERLET)
mbedalvaro 0:df6fdd9b99f0 69 void setSpeed(const vector2Df& vel);
mbedalvaro 0:df6fdd9b99f0 70 void setSpeed(float vx, float vy);
mbedalvaro 0:df6fdd9b99f0 71
mbedalvaro 0:df6fdd9b99f0 72 // ==================================== VARIABLES ====================================
mbedalvaro 0:df6fdd9b99f0 73
mbedalvaro 0:df6fdd9b99f0 74 int identifier; // this may be needed in particular in case we don't use vector<> (case of poor C Arduino compiler)
mbedalvaro 0:df6fdd9b99f0 75
mbedalvaro 0:df6fdd9b99f0 76 // kinematic variables:
mbedalvaro 0:df6fdd9b99f0 77 vector2Df pos, posOld; // I will use verlet integration (perhaps we could have a switch to choose the integration method?)
mbedalvaro 0:df6fdd9b99f0 78 //vector2D speed; // speed at time t (this is not explicitly calculated in case of verlet method, HENCE PRIVATE)
mbedalvaro 0:df6fdd9b99f0 79 vector2Df acc; // Acceleration at time t (equal to the total force divided by the mass). No real need to have it here, but convenient to check.
mbedalvaro 0:df6fdd9b99f0 80 vector2Df totalForce; // this is just for convenience and speeding up calculation when adding forces, before computing acc.
mbedalvaro 0:df6fdd9b99f0 81
mbedalvaro 0:df6fdd9b99f0 82 // integration step:
mbedalvaro 0:df6fdd9b99f0 83 float dt;
mbedalvaro 0:df6fdd9b99f0 84
mbedalvaro 0:df6fdd9b99f0 85 // physical parameters:
mbedalvaro 0:df6fdd9b99f0 86 float dampMotion;
mbedalvaro 0:df6fdd9b99f0 87 float dampBorder;
mbedalvaro 0:df6fdd9b99f0 88 float mass;
mbedalvaro 0:df6fdd9b99f0 89 bool bFixed; // these could act as control points that could be loaded (letters...). In fact, we could use mass to set this (like mass=-1)
mbedalvaro 0:df6fdd9b99f0 90
mbedalvaro 0:df6fdd9b99f0 91 // other things:
mbedalvaro 0:df6fdd9b99f0 92 bool bWallCollision; // this is generic (detect any collision with a side)
mbedalvaro 0:df6fdd9b99f0 93 vector2Df innerCollitionDirection; // this is smarter than a boolean, because I can detect which side was touched and do different things (but may be memory consuming)
mbedalvaro 0:df6fdd9b99f0 94
mbedalvaro 0:df6fdd9b99f0 95 protected:
mbedalvaro 0:df6fdd9b99f0 96
mbedalvaro 0:df6fdd9b99f0 97 private:
mbedalvaro 0:df6fdd9b99f0 98 vector2Df speed; // speed at time t (this is not explicitly calculated in case of verlet method, HENCE MAY BE PRIVATE)
mbedalvaro 0:df6fdd9b99f0 99
mbedalvaro 0:df6fdd9b99f0 100 };
mbedalvaro 0:df6fdd9b99f0 101
mbedalvaro 0:df6fdd9b99f0 102
mbedalvaro 0:df6fdd9b99f0 103 #endif //POINTMASS_H