Alvaro Cassinelli / Mbed 2 deprecated skinGames_forktest

just a test

Dependencies:   mbed

Fork of scoreLight_Advanced by Alvaro Cassinelli

classPointMass.h@2:34157ebbf56b, 2012-03-31 (annotated)

Committer:
mbedalvaro
Date:
Sat Mar 31 12:50:32 2012 +0000
Revision:
2:34157ebbf56b
Parent:
1:a4050fee11f7
Child:
4:f9d364f10335
- Debugged some subtle problem that made the motion of the rigidLoops strange (when damping factor was too small, the blobs would start moving faster and faster sometimes, and oscillate - the reason being the VERLET integration and the fact that the up...

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbedalvaro 0:345b3bc7a0ea 1 /*
mbedalvaro 0:345b3bc7a0ea 2 * pointMass.h
mbedalvaro 0:345b3bc7a0ea 3 * laserBlob
mbedalvaro 0:345b3bc7a0ea 4 *
mbedalvaro 0:345b3bc7a0ea 5 * Created by CASSINELLI ALVARO on 5/19/11.
mbedalvaro 0:345b3bc7a0ea 6 * Copyright 2011 TOKYO UNIVERSITY. All rights reserved.
mbedalvaro 0:345b3bc7a0ea 7 *
mbedalvaro 0:345b3bc7a0ea 8 */
mbedalvaro 0:345b3bc7a0ea 9
mbedalvaro 0:345b3bc7a0ea 10 #ifndef POINTMASS_H
mbedalvaro 0:345b3bc7a0ea 11 #define POINTMASS_H
mbedalvaro 0:345b3bc7a0ea 12
mbedalvaro 0:345b3bc7a0ea 13 #include "myVectorClass.h"
mbedalvaro 0:345b3bc7a0ea 14
mbedalvaro 2:34157ebbf56b 15 #define VERLET_METHOD // comment this to have EULER method
mbedalvaro 0:345b3bc7a0ea 16
mbedalvaro 0:345b3bc7a0ea 17 class pointMass
mbedalvaro 0:345b3bc7a0ea 18 {
mbedalvaro 0:345b3bc7a0ea 19 public:
mbedalvaro 0:345b3bc7a0ea 20
mbedalvaro 0:345b3bc7a0ea 21 // ==================================== METHODS ====================================
mbedalvaro 0:345b3bc7a0ea 22 pointMass();
mbedalvaro 0:345b3bc7a0ea 23 virtual ~pointMass(){};
mbedalvaro 0:345b3bc7a0ea 24
mbedalvaro 0:345b3bc7a0ea 25 // Adding forces to total force:
mbedalvaro 0:345b3bc7a0ea 26 void resetForce();
mbedalvaro 0:345b3bc7a0ea 27 void addForce(float x, float y);
mbedalvaro 0:345b3bc7a0ea 28 void addForce(vector2D force);
mbedalvaro 0:345b3bc7a0ea 29 void addDampingForce();
mbedalvaro 0:345b3bc7a0ea 30 void addInvSquareForce(float x, float y, float radiusMax, float radiusMin, float scale);
mbedalvaro 0:345b3bc7a0ea 31 void addInterInvSquareForce(pointMass &p, float radiusMin, float radiusMax, float scale);
mbedalvaro 0:345b3bc7a0ea 32
mbedalvaro 0:345b3bc7a0ea 33 // (a blob object could be defined by a "cord" of chained particles, plus a center)
mbedalvaro 0:345b3bc7a0ea 34 void addSpringForce(float x, float y, float radius, float scale);
mbedalvaro 0:345b3bc7a0ea 35 void addInterSpringForce(pointMass &p, float radius, float scale);
mbedalvaro 0:345b3bc7a0ea 36 //void addClockwiseForce(particle &p, float radius, float scale);
mbedalvaro 0:345b3bc7a0ea 37 //void addCounterClockwiseForce(particle &p, float radius, float scale);
mbedalvaro 0:345b3bc7a0ea 38
mbedalvaro 0:345b3bc7a0ea 39 //void addDampingForce(); // this work in the case of the euler integration; in case of Verlet, we need to do pseudo-damping while calculating
mbedalvaro 0:345b3bc7a0ea 40 // the acceleration...
mbedalvaro 0:345b3bc7a0ea 41
mbedalvaro 0:345b3bc7a0ea 42 // Set parameters:
mbedalvaro 0:345b3bc7a0ea 43 void setInitialCondition(float px, float py, float vx, float vy);
mbedalvaro 0:345b3bc7a0ea 44 void setIntegrationStep(float _dt);
mbedalvaro 0:345b3bc7a0ea 45
mbedalvaro 0:345b3bc7a0ea 46 void setPos(float px, float py); // assuming the speed is unchanged (must do some tweaking in case of Verlet integration)
mbedalvaro 0:345b3bc7a0ea 47
mbedalvaro 0:345b3bc7a0ea 48 // dynamic update:
mbedalvaro 0:345b3bc7a0ea 49 void update();
mbedalvaro 0:345b3bc7a0ea 50
mbedalvaro 0:345b3bc7a0ea 51 // kinematic constraints (could be based on a force too...)
mbedalvaro 0:345b3bc7a0ea 52 void setWallLimits(float mminx, float mminy, float mmaxx, float mmaxy);
mbedalvaro 0:345b3bc7a0ea 53 void bounceOffWalls();
mbedalvaro 0:345b3bc7a0ea 54
mbedalvaro 0:345b3bc7a0ea 55 vector2D getSpeed(); // get an estimation of the speed (also update speed variable - this variable is not needed in case of VERLET)
mbedalvaro 0:345b3bc7a0ea 56 void setSpeed(const vector2D& vel);
mbedalvaro 0:345b3bc7a0ea 57 void setSpeed(float vx, float vy);
mbedalvaro 0:345b3bc7a0ea 58
mbedalvaro 0:345b3bc7a0ea 59 // ==================================== VARIABLES ====================================
mbedalvaro 0:345b3bc7a0ea 60
mbedalvaro 0:345b3bc7a0ea 61 int identifier; // this may be needed in particular in case we don't use vector<> (case of poor C Arduino compiler)
mbedalvaro 0:345b3bc7a0ea 62
mbedalvaro 0:345b3bc7a0ea 63 // kinematic variables:
mbedalvaro 0:345b3bc7a0ea 64 vector2D pos, posOld; // I will use verlet integration (perhaps we could have a switch to choose the integration method?)
mbedalvaro 0:345b3bc7a0ea 65 //vector2D speed; // speed at time t (this is not explicitly calculated in case of verlet method, HENCE PRIVATE)
mbedalvaro 0:345b3bc7a0ea 66 vector2D 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 0:345b3bc7a0ea 67 vector2D totalForce; // this is just for convenience and speeding up calculation when adding forces, before computing acc.
mbedalvaro 0:345b3bc7a0ea 68
mbedalvaro 0:345b3bc7a0ea 69 // integration step:
mbedalvaro 0:345b3bc7a0ea 70 float dt;
mbedalvaro 0:345b3bc7a0ea 71
mbedalvaro 0:345b3bc7a0ea 72 // physical parameters:
mbedalvaro 0:345b3bc7a0ea 73 float dampMotion;
mbedalvaro 0:345b3bc7a0ea 74 float dampBorder;
mbedalvaro 0:345b3bc7a0ea 75 vector2D maxWall, minWall;
mbedalvaro 0:345b3bc7a0ea 76 float mass;
mbedalvaro 0:345b3bc7a0ea 77 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 0:345b3bc7a0ea 78
mbedalvaro 0:345b3bc7a0ea 79 // other things:
mbedalvaro 0:345b3bc7a0ea 80 vector2D innerCollitionDirection; // this is smarter than a boolean, because I can detect which side was touched
mbedalvaro 0:345b3bc7a0ea 81 bool bWallCollision; // this is generic (detect any collision with a side)
mbedalvaro 0:345b3bc7a0ea 82
mbedalvaro 2:34157ebbf56b 83
mbedalvaro 2:34157ebbf56b 84
mbedalvaro 0:345b3bc7a0ea 85 protected:
mbedalvaro 0:345b3bc7a0ea 86
mbedalvaro 0:345b3bc7a0ea 87 private:
mbedalvaro 2:34157ebbf56b 88 vector2D speed; // speed at time t (this is not explicitly calculated in case of verlet method, HENCE MAY BE PRIVATE)
mbedalvaro 0:345b3bc7a0ea 89
mbedalvaro 0:345b3bc7a0ea 90 };
mbedalvaro 0:345b3bc7a0ea 91
mbedalvaro 0:345b3bc7a0ea 92
mbedalvaro 0:345b3bc7a0ea 93
mbedalvaro 0:345b3bc7a0ea 94 #endif //POINTMASS_H