Alvaro Cassinelli / Mbed 2 deprecated skinGames_forktest

just a test

Dependencies:   mbed

Fork of scoreLight_Advanced by Alvaro Cassinelli

elasticLoop.h@0:345b3bc7a0ea, 2012-03-28 (annotated)

Committer:
mbedalvaro
Date:
Wed Mar 28 14:40:01 2012 +0000
Revision:
0:345b3bc7a0ea
Child:
1:a4050fee11f7
This version (using rigid frame, base and child classes, etc) works, but the blob is strangely smaller. Need to check this.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbedalvaro 0:345b3bc7a0ea 1 /*
mbedalvaro 0:345b3bc7a0ea 2 * elasticLoop.h
mbedalvaro 0:345b3bc7a0ea 3 * laserBlobPure
mbedalvaro 0:345b3bc7a0ea 4 *
mbedalvaro 0:345b3bc7a0ea 5 * Created by CASSINELLI ALVARO on 5/20/11.
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 ELASTIC_LOOP
mbedalvaro 0:345b3bc7a0ea 11 #define ELASTIC_LOOP
mbedalvaro 0:345b3bc7a0ea 12
mbedalvaro 0:345b3bc7a0ea 13 // Include the basic objects to create the loop
mbedalvaro 0:345b3bc7a0ea 14 #include "soundSpot.h"
mbedalvaro 0:345b3bc7a0ea 15 #include "classPointMass.h"
mbedalvaro 0:345b3bc7a0ea 16 #include "classSpring.h"
mbedalvaro 0:345b3bc7a0ea 17
mbedalvaro 0:345b3bc7a0ea 18 #include <vector>
mbedalvaro 0:345b3bc7a0ea 19 using namespace std;
mbedalvaro 0:345b3bc7a0ea 20
mbedalvaro 0:345b3bc7a0ea 21 //#define MAX_NUM_MASSES 50
mbedalvaro 0:345b3bc7a0ea 22 //#define PI 3.1415926
mbedalvaro 0:345b3bc7a0ea 23
mbedalvaro 0:345b3bc7a0ea 24 #define min(a, b) (((a) < (b)) ? (a) : (b))
mbedalvaro 0:345b3bc7a0ea 25 #define max(a, b) (((a) > (b)) ? (a) : (b))
mbedalvaro 0:345b3bc7a0ea 26
mbedalvaro 0:345b3bc7a0ea 27 enum ElasticLoopMode {RELAX, CONTRACT, CONTRACT_CENTRAL, CONTOUR_FOLLOWING, CONTOUR_FOLLOWING_FAST, BOUNCING};
mbedalvaro 0:345b3bc7a0ea 28
mbedalvaro 0:345b3bc7a0ea 29 class elasticLoop : public soundSpot {
mbedalvaro 0:345b3bc7a0ea 30
mbedalvaro 0:345b3bc7a0ea 31 public:
mbedalvaro 0:345b3bc7a0ea 32
mbedalvaro 0:345b3bc7a0ea 33 // Constructor and destructor:
mbedalvaro 0:345b3bc7a0ea 34 elasticLoop();
mbedalvaro 0:345b3bc7a0ea 35 ~elasticLoop();
mbedalvaro 0:345b3bc7a0ea 36
mbedalvaro 0:345b3bc7a0ea 37 // instantiation of the virtual methods of the base class (we don't need to append "virtual", but for clarity I do):
mbedalvaro 0:345b3bc7a0ea 38 virtual void createBlob(int _id, int _elasticBlobMode, vector2D _initPos);
mbedalvaro 0:345b3bc7a0ea 39 virtual void setRegionMotion(int mmix, int mmiy, int mmax, int mmay); // attention: initial position posX and posY should be inside this bounding box...
mbedalvaro 0:345b3bc7a0ea 40 virtual void update(); // update dynamics of the mass loop
mbedalvaro 0:345b3bc7a0ea 41 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 0:345b3bc7a0ea 42 virtual void computeBoundingBox();
mbedalvaro 0:345b3bc7a0ea 43 virtual void sendDataSpecific(void);
mbedalvaro 0:345b3bc7a0ea 44
mbedalvaro 0:345b3bc7a0ea 45 // methods that are new to this class (not in base class):
mbedalvaro 0:345b3bc7a0ea 46 void initSizeBlob(int _numMasses);
mbedalvaro 0:345b3bc7a0ea 47 void createLoopFromScafold(void);
mbedalvaro 0:345b3bc7a0ea 48 void processLoopData(); // process elastic loop data
mbedalvaro 0:345b3bc7a0ea 49
mbedalvaro 0:345b3bc7a0ea 50 // The loop of masses with springs:
mbedalvaro 0:345b3bc7a0ea 51 int numMasses;
mbedalvaro 0:345b3bc7a0ea 52 vector<pointMass> massesLoop;
mbedalvaro 0:345b3bc7a0ea 53 vector<spring> loopSpringArray;
mbedalvaro 0:345b3bc7a0ea 54 vector<vector2D> hairVector; // the perpendiculars to the loop
mbedalvaro 0:345b3bc7a0ea 55 vector<vector2D> lightForce;
mbedalvaro 0:345b3bc7a0ea 56 //vector2D totalLightForce; // this belongs to the base class now
mbedalvaro 0:345b3bc7a0ea 57
mbedalvaro 0:345b3bc7a0ea 58 // For the central anchor point:
mbedalvaro 0:345b3bc7a0ea 59 pointMass anchorMass;
mbedalvaro 0:345b3bc7a0ea 60 vector<spring> centralSpringArray;
mbedalvaro 0:345b3bc7a0ea 61
mbedalvaro 0:345b3bc7a0ea 62 // ====================== VARIABLES ======================
mbedalvaro 0:345b3bc7a0ea 63 // Number of particles in the elastic loop (this may or may not be equal to the number of points in the lsdTrajectory)
mbedalvaro 0:345b3bc7a0ea 64 // int numMasses;
mbedalvaro 0:345b3bc7a0ea 65
mbedalvaro 0:345b3bc7a0ea 66 // Meta-modes for the elastic loop:
mbedalvaro 0:345b3bc7a0ea 67 ElasticLoopMode loopMode;
mbedalvaro 0:345b3bc7a0ea 68
mbedalvaro 0:345b3bc7a0ea 69 // Detail modes (could be in a struct)
mbedalvaro 0:345b3bc7a0ea 70 // Behaviour mode:
mbedalvaro 0:345b3bc7a0ea 71 bool pseudopodesMode;
mbedalvaro 0:345b3bc7a0ea 72 bool slidingDirection; // for contour following
mbedalvaro 0:345b3bc7a0ea 73 bool springForcesOnLoop;
mbedalvaro 0:345b3bc7a0ea 74 bool lightForcesOnLoop;
mbedalvaro 0:345b3bc7a0ea 75 bool forceBorderOnLoop;
mbedalvaro 0:345b3bc7a0ea 76 bool recenteringForceOnLoop;
mbedalvaro 0:345b3bc7a0ea 77 bool nuclearForceOnLoop;
mbedalvaro 0:345b3bc7a0ea 78 bool interParticleForceOnLoop;
mbedalvaro 0:345b3bc7a0ea 79 bool forceInternalPressureOnLoop;
mbedalvaro 0:345b3bc7a0ea 80 bool recenteringForceOnNucleus;
mbedalvaro 0:345b3bc7a0ea 81
mbedalvaro 0:345b3bc7a0ea 82 // 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 0:345b3bc7a0ea 83 // ex: if it is 180deg, then the blob just "bounces" on the zone transition; if it is 90, it does contour following...
mbedalvaro 0:345b3bc7a0ea 84 float angleCorrectionForceLoop;
mbedalvaro 0:345b3bc7a0ea 85 float angleCorrectionForceNucleus;
mbedalvaro 0:345b3bc7a0ea 86
mbedalvaro 0:345b3bc7a0ea 87 vector2D recenteringVectorNucleus;
mbedalvaro 0:345b3bc7a0ea 88 // the following are common to all blobs:
mbedalvaro 0:345b3bc7a0ea 89 // vector2D recenteringVectorLoop;
mbedalvaro 0:345b3bc7a0ea 90 // float angleRecenteringVector; // auxiliary variables for sending data (for the recenteringVectorLoop)
mbedalvaro 0:345b3bc7a0ea 91 // float normRecenteringVector;
mbedalvaro 0:345b3bc7a0ea 92
mbedalvaro 0:345b3bc7a0ea 93 // Numeric parameters:
mbedalvaro 0:345b3bc7a0ea 94 float massLoopParticle;
mbedalvaro 0:345b3bc7a0ea 95 float dampMotionMassesLoop;
mbedalvaro 0:345b3bc7a0ea 96 float massAnchor;
mbedalvaro 0:345b3bc7a0ea 97 float dampMotionAnchorMass;
mbedalvaro 0:345b3bc7a0ea 98
mbedalvaro 0:345b3bc7a0ea 99 float interSpringK, interSpringRelax;
mbedalvaro 0:345b3bc7a0ea 100 float centralSpringK, centralSpringRelax;
mbedalvaro 0:345b3bc7a0ea 101 float factorLightForce;
mbedalvaro 0:345b3bc7a0ea 102 float factorRecenteringAnchorMass;
mbedalvaro 0:345b3bc7a0ea 103 float factorRecenteringLoopMass;
mbedalvaro 0:345b3bc7a0ea 104 float factorPressureLoopMass;
mbedalvaro 0:345b3bc7a0ea 105 float factorForceBorder;
mbedalvaro 0:345b3bc7a0ea 106 float interParticleRange, factorInterParticleForce; // zach like blob force
mbedalvaro 0:345b3bc7a0ea 107
mbedalvaro 0:345b3bc7a0ea 108 // SOUND SENDING MODES (specific to this kind of blob object):
mbedalvaro 0:345b3bc7a0ea 109 /*
mbedalvaro 0:345b3bc7a0ea 110 // (a) anchor mass data:
mbedalvaro 0:345b3bc7a0ea 111 bool sendingAnchorPosition;
mbedalvaro 0:345b3bc7a0ea 112 bool sendingAnchorForce; // this is the total force on the anchor mass, not just the recentering force
mbedalvaro 0:345b3bc7a0ea 113 bool sendingAnchorTouchWall;
mbedalvaro 0:345b3bc7a0ea 114 // (b) data from blob points:
mbedalvaro 0:345b3bc7a0ea 115 bool sendingLoopPositions;
mbedalvaro 0:345b3bc7a0ea 116 bool sendingLoopForces;// this is not just the forces from light, but all the forces in each particle
mbedalvaro 0:345b3bc7a0ea 117 bool sendingLoopForcesLight;
mbedalvaro 0:345b3bc7a0ea 118 bool sendingLoopRegions; // from this we can detect "hits"
mbedalvaro 0:345b3bc7a0ea 119 bool sendingLoopTouchWall;
mbedalvaro 0:345b3bc7a0ea 120 // (c) Blob geometry:
mbedalvaro 0:345b3bc7a0ea 121 bool sendingBlobArea;
mbedalvaro 0:345b3bc7a0ea 122 bool sendingBlobNormals;
mbedalvaro 0:345b3bc7a0ea 123 bool sendingBlobAngles; // redundant with sendingBlobNormals, but simplified (only angle of normal)
mbedalvaro 0:345b3bc7a0ea 124 */
mbedalvaro 0:345b3bc7a0ea 125
mbedalvaro 0:345b3bc7a0ea 126 };
mbedalvaro 0:345b3bc7a0ea 127
mbedalvaro 0:345b3bc7a0ea 128 #endif