Diff: elasticLoop.cpp

Revision:

40:ee217eff826c

Parent:

32:52273c3291fe

Child:

41:32c80fc09b59

--- a/elasticLoop.cpp	Wed Oct 16 15:54:39 2013 +0000
+++ b/elasticLoop.cpp	Wed Mar 26 09:52:31 2014 +0000
@@ -279,7 +279,7 @@
             // Springs:
             centralSpringK=0.4;
             centralSpringRelax=100;//bluePrint.radius;
-            interSpringK=0.4;//46;
+            interSpringK=0.43;//46;
             interSpringRelax=0.7*startRadius*2*sin(1.0* PI/ bluePrint.scafold.size()); // if factor=1, this makes for a perfect polygon at relax for all springs...
             // for "zack-like" blob:
             interParticleRange=70;
@@ -296,19 +296,19 @@
             interParticleForceOnLoop=true;
             forceInternalPressureOnLoop=false; // (when true, either constant force or calculated area using Green function or approximation by bounding box)
             // Recentering vector:
-            angleCorrectionForceLoop=240;//239;// in deg
+            angleCorrectionForceLoop=236;//239;// in deg
             recenteringForceOnLoop=true;
             angleCorrectionForceNucleus=180;// in deg
             recenteringForceOnNucleus=false;//true;
 
-            factorLightForce=2.23;//3.0;//8.0;
+            factorLightForce=2.4;//3.0;//8.0;
             factorRecenteringAnchorMass=1.0;//20.0/scafold.size();
             factorRecenteringLoopMass=0.09;
             factorPressureLoopMass=1.5;
             factorForceBorder=150;
             // per-blob mirror delay (if things were well adjusted - in particular mirror waiting times, then this could be 0.
             //But in case of unique blobs, it may be interesting to accelerate display AND correct the delay by software):
-            displaySensingBuffer.setDelayMirrors(4);
+            displaySensingBuffer.setDelayMirrors(3);
 
             break;
         case CONTOUR_FOLLOWING_FAST:
@@ -520,7 +520,7 @@
         totalLightForce+=lightForce[i]; // note: bad value choice (negative means TOUCH, and equal to -1), TO CHANGE this in future implementations
     }
     //== (2) Compute the "recentering vector" from the total light force, by rotating by the angleCorrection (this will give different behaviours):
-    recenteringVectorLoop= totalLightForce.getRotatedDeg(slidingDirection? angleCorrectionForceLoop : 140); // the hard coded value is a hack for the time being...
+    recenteringVectorLoop= totalLightForce.getRotatedDeg(slidingDirection? -110 : 110); // the hard coded value is a hack for the time being...
     // Compute redundant quantities:
     normRecenteringVector=recenteringVectorLoop.length();
     angleRecenteringVector=recenteringVectorLoop.angleDegHoriz();
@@ -540,21 +540,25 @@
             for (int i = 0; i < numMasses; i++) {
                 if ((i%2)==0) sign*=-1;
                 if (displaySensingBuffer.lsdTrajectory[i].lightZone>0) // this means touching something black: make SOME points attracted by it (pseudopodes!!) - but not all!
-                    massesLoop[i].addForce(lightForce[i]*(sign<0? -1.24 : 1.4)); // sign<0 means this is a pseudopode attracted by dark zones
+                    massesLoop[i].addForce(lightForce[i]*(sign<0? -1.8 : 1.8)); // sign<0 means this is a pseudopode attracted by dark zones
                 else // this means something white: do nothing, all forces are towards the exterior
-                    massesLoop[i].addForce(lightForce[i]*1.6); // this force tends to make the blob "inflate", but is not "directional"
+                    massesLoop[i].addForce(lightForce[i]*1.5); // this force tends to make the blob "inflate", but is not "directional"
             }
         }
         //----(c) Forces from the recentering vector on each particle (WITH PATCHES on the loop?):
         if (recenteringForceOnLoop) {
 
-            vector2Df auxForce= recenteringVectorLoop*factorRecenteringLoopMass*1.0;
-            vector2Df auxForce2= totalLightForce.getRotatedDeg(80)*factorRecenteringLoopMass*(slidingDirection? 0 : 1)*1.8;
+            vector2Df auxForce= recenteringVectorLoop*factorRecenteringLoopMass*1.6;
+            //vector2Df auxForce2= (slidingDirection? totalLightForce.getRotatedDeg(-90) : totalLightForce.getRotatedDeg(90))*factorRecenteringLoopMass*1.5;
+            //vector2Df auxForce3= (slidingDirection? totalLightForce.getRotatedDeg(-90) : totalLightForce.getRotatedDeg(90))*factorRecenteringLoopMass*1.5;
+            vector2Df auxForce2= (slidingDirection? totalLightForce.getRotatedDeg(90) : totalLightForce.getRotatedDeg(-90))*factorRecenteringLoopMass*1.1;
+            vector2Df auxForce3= (slidingDirection? totalLightForce.getRotatedDeg(90) : totalLightForce.getRotatedDeg(-90))*factorRecenteringLoopMass*1.1;
+           
             int sign=1;
             for (int i = 0; i < numMasses; i++) {
                 if ((i%2)==0) sign*=-1;
                 if (displaySensingBuffer.lsdTrajectory[i].lightZone>0) {// this means touching something black: behaviour may depend on the pseudopode presence:
-                    massesLoop[i].addForce((sign<0? auxForce2 : auxForce2)); // nothing, or sign, or corrected angle
+                    massesLoop[i].addForce((sign<0? auxForce2 : auxForce3)); // nothing, or sign, or corrected angle
                 } else
                     massesLoop[i].addForce(auxForce); // this force is responsible for the behaviour (contour following or not)
             }