Alvaro Cassinelli / Mbed 2 deprecated skinGames_II

save loops

Dependencies:   mbed

elasticLoop.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 * elasticLoop.h
mbedalvaro 0:df6fdd9b99f0 3 * laserBlobPure
mbedalvaro 0:df6fdd9b99f0 4 *
mbedalvaro 0:df6fdd9b99f0 5 * Created by CASSINELLI ALVARO on 5/20/11.
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 ELASTIC_LOOP
mbedalvaro 0:df6fdd9b99f0 11 #define ELASTIC_LOOP
mbedalvaro 0:df6fdd9b99f0 12
mbedalvaro 0:df6fdd9b99f0 13 // Include the basic objects to create the loop
mbedalvaro 0:df6fdd9b99f0 14 #include "soundSpot.h"
mbedalvaro 0:df6fdd9b99f0 15 #include "classPointMass.h"
mbedalvaro 0:df6fdd9b99f0 16 #include "classSpring.h"
mbedalvaro 0:df6fdd9b99f0 17
mbedalvaro 0:df6fdd9b99f0 18 #include <vector>
mbedalvaro 0:df6fdd9b99f0 19 using namespace std;
mbedalvaro 0:df6fdd9b99f0 20
mbedalvaro 0:df6fdd9b99f0 21 //#define MAX_NUM_MASSES 50
mbedalvaro 0:df6fdd9b99f0 22 //#define PI 3.1415926
mbedalvaro 0:df6fdd9b99f0 23
mbedalvaro 0:df6fdd9b99f0 24 enum ElasticLoopMode {RELAX, CONTRACT, CONTRACT_CENTRAL, CONTRACT_CENTRAL_FAST, CONTOUR_FOLLOWING, CONTOUR_FOLLOWING_FAST, BOUNCING};
mbedalvaro 0:df6fdd9b99f0 25
mbedalvaro 0:df6fdd9b99f0 26 class elasticLoop : public soundSpot {
mbedalvaro 0:df6fdd9b99f0 27
mbedalvaro 0:df6fdd9b99f0 28 public:
mbedalvaro 0:df6fdd9b99f0 29
mbedalvaro 0:df6fdd9b99f0 30 // Constructor and destructor:
mbedalvaro 0:df6fdd9b99f0 31 elasticLoop();
mbedalvaro 0:df6fdd9b99f0 32 virtual ~elasticLoop();
mbedalvaro 0:df6fdd9b99f0 33
mbedalvaro 0:df6fdd9b99f0 34 // instantiation of the virtual methods of the base class (we don't need to append "virtual", but for clarity I do):
mbedalvaro 0:df6fdd9b99f0 35 void createBlob(int _id, ElasticLoopMode _elasticBlobMode, vector2Df _initPos, vector2Df _initSpeed);
mbedalvaro 0:df6fdd9b99f0 36 virtual void setRegionMotion(float mmix, float mmiy, float mmax, float mmay); // attention: initial position posX and posY should be inside this bounding box...
mbedalvaro 0:df6fdd9b99f0 37 virtual void update(vector2Df referencePos); // update dynamics of the mass loop
mbedalvaro 0:df6fdd9b99f0 38 virtual void draw(void); // draw the blob (renders on the laser trajectory object lsdTrajectory from the base class, using the openGL laser renderer - not yet done).
mbedalvaro 0:df6fdd9b99f0 39 virtual void computeBoundingBox();
mbedalvaro 0:df6fdd9b99f0 40 virtual void sendDataSpecific(void);
mbedalvaro 0:df6fdd9b99f0 41 // Some behaviour parameters:
mbedalvaro 0:df6fdd9b99f0 42 virtual void setSpeed(float speed) {};// do nothing in the case of elastic loop for the time being...
mbedalvaro 0:df6fdd9b99f0 43 virtual void setSize(float size) {}; // do nothing in the case of elastic loop for the time being...
mbedalvaro 0:df6fdd9b99f0 44 virtual void speedFactor(float speedfactor);
mbedalvaro 0:df6fdd9b99f0 45 virtual void sizeFactor(float sizeFactor) {}; // do nothing in the case of elastic loop for the time being...
mbedalvaro 0:df6fdd9b99f0 46
mbedalvaro 0:df6fdd9b99f0 47 virtual void explosion() {}; // nothing for the time being
mbedalvaro 0:df6fdd9b99f0 48 virtual vector2Df getCenter() {}; // nothing for the time being
mbedalvaro 0:df6fdd9b99f0 49 virtual void resetPositionSpeed() {};// nothing for the time being
mbedalvaro 0:df6fdd9b99f0 50 virtual void setPositionSpeed(vector2Df _pos, vector2Df _spe) {};// nothing for the time being
mbedalvaro 0:df6fdd9b99f0 51
mbedalvaro 0:df6fdd9b99f0 52 virtual void showChildParameters();
mbedalvaro 0:df6fdd9b99f0 53
mbedalvaro 0:df6fdd9b99f0 54 // methods that are new to this class (not in base class):
mbedalvaro 0:df6fdd9b99f0 55 void initSizeBlob(int _numMasses);
mbedalvaro 0:df6fdd9b99f0 56 void createLoopFromScafold(void);
mbedalvaro 0:df6fdd9b99f0 57 void processLoopData(); // process elastic loop data
mbedalvaro 0:df6fdd9b99f0 58
mbedalvaro 0:df6fdd9b99f0 59 // ====================== VARIABLES ======================
mbedalvaro 0:df6fdd9b99f0 60
mbedalvaro 0:df6fdd9b99f0 61 //ElasticLoopMode loopMode;
mbedalvaro 0:df6fdd9b99f0 62
mbedalvaro 0:df6fdd9b99f0 63 // The loop of masses with springs:
mbedalvaro 0:df6fdd9b99f0 64 int numMasses; // Number of particles in the elastic loop (this may or may not be equal to the number of points in the lsdTrajectory)
mbedalvaro 0:df6fdd9b99f0 65 float integrationStepLoop;
mbedalvaro 0:df6fdd9b99f0 66 vector<pointMass> massesLoop;
mbedalvaro 0:df6fdd9b99f0 67 vector<spring> loopSpringArray;
mbedalvaro 0:df6fdd9b99f0 68 // NOTE: to save memory, we can drop hairVector (use lightForce instead, and then normalize it when required)
mbedalvaro 0:df6fdd9b99f0 69 vector<vector2Df> hairVector; // the perpendiculars to the loop
mbedalvaro 0:df6fdd9b99f0 70 vector<vector2Df> lightForce;
mbedalvaro 0:df6fdd9b99f0 71 //vector2D totalLightForce; // this belongs to the base class now
mbedalvaro 0:df6fdd9b99f0 72
mbedalvaro 0:df6fdd9b99f0 73 // For the central anchor point:
mbedalvaro 0:df6fdd9b99f0 74 pointMass anchorMass;
mbedalvaro 0:df6fdd9b99f0 75 float integrationStepAnchor;
mbedalvaro 0:df6fdd9b99f0 76 vector<spring> centralSpringArray;
mbedalvaro 0:df6fdd9b99f0 77
mbedalvaro 0:df6fdd9b99f0 78 // Detail modes (could be in a struct)
mbedalvaro 0:df6fdd9b99f0 79 // Behaviour mode:
mbedalvaro 0:df6fdd9b99f0 80 bool pseudopodesMode;
mbedalvaro 0:df6fdd9b99f0 81 bool slidingDirection; // for contour following
mbedalvaro 0:df6fdd9b99f0 82 bool springForcesOnLoop;
mbedalvaro 0:df6fdd9b99f0 83 bool lightForcesOnLoop;
mbedalvaro 0:df6fdd9b99f0 84 bool forceBorderOnLoop;
mbedalvaro 0:df6fdd9b99f0 85 bool recenteringForceOnLoop;
mbedalvaro 0:df6fdd9b99f0 86 bool nuclearForceOnLoop;
mbedalvaro 0:df6fdd9b99f0 87 bool interParticleForceOnLoop;
mbedalvaro 0:df6fdd9b99f0 88 bool forceInternalPressureOnLoop;
mbedalvaro 0:df6fdd9b99f0 89 bool recenteringForceOnNucleus;
mbedalvaro 0:df6fdd9b99f0 90
mbedalvaro 0:df6fdd9b99f0 91 // Recentering vector (obtained by rotating the total light force by an arbitrary angle) for the anchor mass, and for each point in the loop
mbedalvaro 0:df6fdd9b99f0 92 // ex: if it is 180deg, then the blob just "bounces" on the zone transition; if it is 90, it does contour following...
mbedalvaro 0:df6fdd9b99f0 93
mbedalvaro 0:df6fdd9b99f0 94 // The following are common to all blobs:
mbedalvaro 0:df6fdd9b99f0 95 // float angleCorrectionForceLoop;
mbedalvaro 0:df6fdd9b99f0 96 // vector2D recenteringVectorLoop;
mbedalvaro 0:df6fdd9b99f0 97 // float angleRecenteringVector; // auxiliary variables for sending data (for the recenteringVectorLoop)
mbedalvaro 0:df6fdd9b99f0 98 // float normRecenteringVector;
mbedalvaro 0:df6fdd9b99f0 99
mbedalvaro 0:df6fdd9b99f0 100 float angleCorrectionForceNucleus;
mbedalvaro 0:df6fdd9b99f0 101 vector2Df recenteringVectorNucleus;
mbedalvaro 0:df6fdd9b99f0 102
mbedalvaro 0:df6fdd9b99f0 103 // Numeric parameters:
mbedalvaro 0:df6fdd9b99f0 104 float massLoopParticle;
mbedalvaro 0:df6fdd9b99f0 105 float dampMotionMassesLoop;
mbedalvaro 0:df6fdd9b99f0 106 float massAnchor;
mbedalvaro 0:df6fdd9b99f0 107 float dampMotionAnchorMass;
mbedalvaro 0:df6fdd9b99f0 108
mbedalvaro 0:df6fdd9b99f0 109 // initial size, position and center-mass speed of the elastic loop:
mbedalvaro 0:df6fdd9b99f0 110 float startRadius;
mbedalvaro 0:df6fdd9b99f0 111 //vector2D startCenter; // this belongs to the base class
mbedalvaro 0:df6fdd9b99f0 112 // vector2D startSpeed; // this belongs to base class
mbedalvaro 0:df6fdd9b99f0 113
mbedalvaro 0:df6fdd9b99f0 114 float interSpringK, interSpringRelax;
mbedalvaro 0:df6fdd9b99f0 115 float centralSpringK, centralSpringRelax;
mbedalvaro 0:df6fdd9b99f0 116 float factorLightForce;
mbedalvaro 0:df6fdd9b99f0 117 float factorRecenteringAnchorMass;
mbedalvaro 0:df6fdd9b99f0 118 float factorRecenteringLoopMass;
mbedalvaro 0:df6fdd9b99f0 119 float factorPressureLoopMass;
mbedalvaro 0:df6fdd9b99f0 120 float factorForceBorder;
mbedalvaro 0:df6fdd9b99f0 121 float interParticleRange, factorInterParticleForce; // zach like blob force
mbedalvaro 0:df6fdd9b99f0 122
mbedalvaro 0:df6fdd9b99f0 123 // SOUND SENDING MODES (specific to this kind of blob object):
mbedalvaro 0:df6fdd9b99f0 124 /*
mbedalvaro 0:df6fdd9b99f0 125 // (a) anchor mass data:
mbedalvaro 0:df6fdd9b99f0 126 bool sendingAnchorPosition;
mbedalvaro 0:df6fdd9b99f0 127 bool sendingAnchorForce; // this is the total force on the anchor mass, not just the recentering force
mbedalvaro 0:df6fdd9b99f0 128 bool sendingAnchorTouchWall;
mbedalvaro 0:df6fdd9b99f0 129 // (b) data from blob points:
mbedalvaro 0:df6fdd9b99f0 130 bool sendingLoopPositions;
mbedalvaro 0:df6fdd9b99f0 131 bool sendingLoopForces;// this is not just the forces from light, but all the forces in each particle
mbedalvaro 0:df6fdd9b99f0 132 bool sendingLoopForcesLight;
mbedalvaro 0:df6fdd9b99f0 133 bool sendingLoopRegions; // from this we can detect "hits"
mbedalvaro 0:df6fdd9b99f0 134 bool sendingLoopTouchWall;
mbedalvaro 0:df6fdd9b99f0 135 // (c) Blob geometry:
mbedalvaro 0:df6fdd9b99f0 136 bool sendingBlobArea;
mbedalvaro 0:df6fdd9b99f0 137 bool sendingBlobNormals;
mbedalvaro 0:df6fdd9b99f0 138 bool sendingBlobAngles; // redundant with sendingBlobNormals, but simplified (only angle of normal)
mbedalvaro 0:df6fdd9b99f0 139 */
mbedalvaro 0:df6fdd9b99f0 140
mbedalvaro 0:df6fdd9b99f0 141 };
mbedalvaro 0:df6fdd9b99f0 142
mbedalvaro 0:df6fdd9b99f0 143 #endif