Alvaro Cassinelli / Mbed 2 deprecated skinGames_forktest

just a test

Dependencies:   mbed

Fork of scoreLight_Advanced by Alvaro Cassinelli

rigidLoop.h@31:5f039cbddee8, 2012-09-23 (annotated)

Committer:
mbedalvaro
Date:
Sun Sep 23 10:11:43 2012 +0000
Revision:
31:5f039cbddee8
Parent:
30:d8af03f01cd4
Child:
32:52273c3291fe
this is quite nice, but  I am going to make a deep modification of the bouncing principle: instead of depending on the penetration, it will just be a factor over the speed (perfect elastic bouncing being factorElastic=1, and perfectly absorption=0);

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbedalvaro 1:a4050fee11f7 1 #ifndef RIGID_LOOP
mbedalvaro 1:a4050fee11f7 2 #define RIGID_LOOP
mbedalvaro 1:a4050fee11f7 3
mbedalvaro 1:a4050fee11f7 4 // Include the basic objects to create the loop
mbedalvaro 1:a4050fee11f7 5 #include "soundSpot.h"
mbedalvaro 1:a4050fee11f7 6 #include "classPointMass.h" // this may be used to move the center of the RIGID loop in dynamically "real" ways
mbedalvaro 1:a4050fee11f7 7 #include "classSpring.h" // same remark than above
mbedalvaro 1:a4050fee11f7 8
mbedalvaro 1:a4050fee11f7 9 using namespace std;
mbedalvaro 1:a4050fee11f7 10
mbedalvaro 31:5f039cbddee8 11 enum RigidLoopMode {SPOT_FOLLOWING, SPOT_GHOST, SPOT_PACMAN, SPOT_BOUNCING, SPOT_AIR_HOCKEY, SPOT_LORENTZ_FORCE,
mbedalvaro 31:5f039cbddee8 12 SPOT_TEST, SPOT_TRACK, SPOT_TRACK_DOT,
mbedalvaro 31:5f039cbddee8 13 EXPLOSION};
mbedalvaro 1:a4050fee11f7 14
mbedalvaro 1:a4050fee11f7 15 class rigidLoop : public soundSpot {
mbedalvaro 1:a4050fee11f7 16
mbedalvaro 1:a4050fee11f7 17 public:
mbedalvaro 1:a4050fee11f7 18
mbedalvaro 1:a4050fee11f7 19 // Constructor and destructor:
mbedalvaro 1:a4050fee11f7 20 rigidLoop();
mbedalvaro 1:a4050fee11f7 21 ~rigidLoop();
mbedalvaro 1:a4050fee11f7 22
mbedalvaro 1:a4050fee11f7 23 // instantiation of the virtual methods of the base class (we don't need to append "virtual", but for clarity I do):
mbedalvaro 12:0de9cd2bced5 24 void createBlob(int _id, RigidLoopMode _rigidBlobMode, vector2Df _initPos, vector2Df _initSpeed);
mbedalvaro 12:0de9cd2bced5 25 virtual void setRegionMotion(float mmix, float mmiy, float mmax, float mmay); // attention: initial position posX and posY should be inside this bounding box...
mbedalvaro 31:5f039cbddee8 26 virtual void update(vector2Df referencePos); // update dynamics of the mass loop
mbedalvaro 1:a4050fee11f7 27 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 1:a4050fee11f7 28 virtual void computeBoundingBox();
mbedalvaro 1:a4050fee11f7 29 virtual void sendDataSpecific(void);
mbedalvaro 24:4e52031a495b 30 virtual void speedFactor(float speedfactor);
mbedalvaro 31:5f039cbddee8 31
mbedalvaro 31:5f039cbddee8 32 virtual void explosion(); // not very nice programming style, it should be a MODE instead or something like that.
mbedalvaro 31:5f039cbddee8 33 virtual vector2Df getCenter();
mbedalvaro 31:5f039cbddee8 34 virtual void resetPositionSpeed() {centerMass.setInitialCondition(startCenter, startSpeed);};
mbedalvaro 31:5f039cbddee8 35 virtual void setPositionSpeed(vector2Df _pos, vector2Df _spe) {centerMass.setInitialCondition(_pos, _spe);};
mbedalvaro 31:5f039cbddee8 36
mbedalvaro 31:5f039cbddee8 37
mbedalvaro 1:a4050fee11f7 38 // methods that are new to this class (not in base class):
mbedalvaro 1:a4050fee11f7 39 void initSizeBlob(int _numPoints);
mbedalvaro 1:a4050fee11f7 40 void createLoopFromScafold(void); // this is much simpler than the elastic blob (here, we only need to add a central mass)
mbedalvaro 1:a4050fee11f7 41 // void processLoopData(); // not needed, because the loop is rigid.
mbedalvaro 1:a4050fee11f7 42
mbedalvaro 1:a4050fee11f7 43 RigidLoopMode updateMode;
mbedalvaro 1:a4050fee11f7 44
mbedalvaro 1:a4050fee11f7 45 // The number of points in the loop (in this case, is just the number of points in the scaffold, as well as the number of points in the lsdTrajectory)
mbedalvaro 12:0de9cd2bced5 46 // int numPoints; // this belongs to soundSpot base class
mbedalvaro 1:a4050fee11f7 47 pointMass centerMass; // this is the center of the rigidLoop. Note that it can have mass or not, this will depend on the RigidLoopMode
mbedalvaro 1:a4050fee11f7 48
mbedalvaro 1:a4050fee11f7 49 // The following are common to all blobs:
mbedalvaro 1:a4050fee11f7 50 // float angleCorrectionForceLoop;
mbedalvaro 1:a4050fee11f7 51 // vector2D recenteringVectorLoop;
mbedalvaro 1:a4050fee11f7 52 // float angleRecenteringVector; // auxiliary variables for sending data (for the recenteringVectorLoop)
mbedalvaro 1:a4050fee11f7 53 // float normRecenteringVector;
mbedalvaro 1:a4050fee11f7 54
mbedalvaro 1:a4050fee11f7 55 // other modes:
mbedalvaro 1:a4050fee11f7 56 bool slidingDirection; // for contour following
mbedalvaro 1:a4050fee11f7 57
mbedalvaro 1:a4050fee11f7 58 // numeric parameters:
mbedalvaro 1:a4050fee11f7 59 float saccadeRadius;
mbedalvaro 1:a4050fee11f7 60
mbedalvaro 7:0df17f3078bc 61 // THINGS FOR CONTOUR FOLLOWING:
mbedalvaro 7:0df17f3078bc 62 float saccadeRadius_initial; // this is for SEARCH MODE (remember initial radius)
mbedalvaro 7:0df17f3078bc 63 bool justSearched;
mbedalvaro 7:0df17f3078bc 64
mbedalvaro 7:0df17f3078bc 65
mbedalvaro 4:f9d364f10335 66 float rotationAngle; // note: in the future, rotation would be done by the openGL-like renderer
mbedalvaro 4:f9d364f10335 67
mbedalvaro 1:a4050fee11f7 68 float massCenter;
mbedalvaro 1:a4050fee11f7 69 float dampMotionCenterMass;
mbedalvaro 25:74cb85b85fd2 70
mbedalvaro 21:bc9b9383f4b6 71
mbedalvaro 1:a4050fee11f7 72 float speedContourFollowing; // this is given as a percentage of the radius of the circle
mbedalvaro 1:a4050fee11f7 73 float factorBouncingForce;
mbedalvaro 1:a4050fee11f7 74 };
mbedalvaro 1:a4050fee11f7 75
mbedalvaro 1:a4050fee11f7 76 #endif