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Dependencies:   mbed

Fork of scoreLight_Advanced by Alvaro Cassinelli

elasticLoop.h@4:f9d364f10335, 2012-04-04 (annotated)

Committer:
mbedalvaro
Date:
Wed Apr 04 10:05:25 2012 +0000
Revision:
4:f9d364f10335
Parent:
1:a4050fee11f7
Child:
12:0de9cd2bced5
- the new optimized laser output buffer has not been tested, but it compiles; - I am commiting here, because I am planning to change the structure of the classes: soundSpot will not contain an object of type classLaserSensingTrajectory, but be a CHILD o...

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 enum ElasticLoopMode {RELAX, CONTRACT, CONTRACT_CENTRAL, CONTOUR_FOLLOWING, CONTOUR_FOLLOWING_FAST, BOUNCING};
mbedalvaro 0:345b3bc7a0ea 25
mbedalvaro 0:345b3bc7a0ea 26 class elasticLoop : public soundSpot {
mbedalvaro 0:345b3bc7a0ea 27
mbedalvaro 0:345b3bc7a0ea 28 public:
mbedalvaro 0:345b3bc7a0ea 29
mbedalvaro 0:345b3bc7a0ea 30 // Constructor and destructor:
mbedalvaro 0:345b3bc7a0ea 31 elasticLoop();
mbedalvaro 0:345b3bc7a0ea 32 ~elasticLoop();
mbedalvaro 0:345b3bc7a0ea 33
mbedalvaro 0:345b3bc7a0ea 34 // instantiation of the virtual methods of the base class (we don't need to append "virtual", but for clarity I do):
mbedalvaro 4:f9d364f10335 35 void createBlob(int _id, ElasticLoopMode _elasticBlobMode, vector2D _initPos, vector2D _initSpeed);
mbedalvaro 0:345b3bc7a0ea 36 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 37 virtual void update(); // update dynamics of the mass loop
mbedalvaro 0:345b3bc7a0ea 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 0:345b3bc7a0ea 39 virtual void computeBoundingBox();
mbedalvaro 0:345b3bc7a0ea 40 virtual void sendDataSpecific(void);
mbedalvaro 0:345b3bc7a0ea 41
mbedalvaro 0:345b3bc7a0ea 42 // methods that are new to this class (not in base class):
mbedalvaro 0:345b3bc7a0ea 43 void initSizeBlob(int _numMasses);
mbedalvaro 0:345b3bc7a0ea 44 void createLoopFromScafold(void);
mbedalvaro 0:345b3bc7a0ea 45 void processLoopData(); // process elastic loop data
mbedalvaro 0:345b3bc7a0ea 46
mbedalvaro 1:a4050fee11f7 47 // ====================== VARIABLES ======================
mbedalvaro 1:a4050fee11f7 48
mbedalvaro 1:a4050fee11f7 49 //ElasticLoopMode loopMode;
mbedalvaro 1:a4050fee11f7 50
mbedalvaro 0:345b3bc7a0ea 51 // The loop of masses with springs:
mbedalvaro 1:a4050fee11f7 52 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 0:345b3bc7a0ea 53 vector<pointMass> massesLoop;
mbedalvaro 0:345b3bc7a0ea 54 vector<spring> loopSpringArray;
mbedalvaro 1:a4050fee11f7 55 // NOTE: to save memory, we can drop hairVector (use lightForce instead, and then normalize it when required)
mbedalvaro 0:345b3bc7a0ea 56 vector<vector2D> hairVector; // the perpendiculars to the loop
mbedalvaro 0:345b3bc7a0ea 57 vector<vector2D> lightForce;
mbedalvaro 0:345b3bc7a0ea 58 //vector2D totalLightForce; // this belongs to the base class now
mbedalvaro 0:345b3bc7a0ea 59
mbedalvaro 0:345b3bc7a0ea 60 // For the central anchor point:
mbedalvaro 0:345b3bc7a0ea 61 pointMass anchorMass;
mbedalvaro 0:345b3bc7a0ea 62 vector<spring> centralSpringArray;
mbedalvaro 0:345b3bc7a0ea 63
mbedalvaro 0:345b3bc7a0ea 64 // Detail modes (could be in a struct)
mbedalvaro 0:345b3bc7a0ea 65 // Behaviour mode:
mbedalvaro 0:345b3bc7a0ea 66 bool pseudopodesMode;
mbedalvaro 0:345b3bc7a0ea 67 bool slidingDirection; // for contour following
mbedalvaro 0:345b3bc7a0ea 68 bool springForcesOnLoop;
mbedalvaro 0:345b3bc7a0ea 69 bool lightForcesOnLoop;
mbedalvaro 0:345b3bc7a0ea 70 bool forceBorderOnLoop;
mbedalvaro 0:345b3bc7a0ea 71 bool recenteringForceOnLoop;
mbedalvaro 0:345b3bc7a0ea 72 bool nuclearForceOnLoop;
mbedalvaro 0:345b3bc7a0ea 73 bool interParticleForceOnLoop;
mbedalvaro 0:345b3bc7a0ea 74 bool forceInternalPressureOnLoop;
mbedalvaro 0:345b3bc7a0ea 75 bool recenteringForceOnNucleus;
mbedalvaro 0:345b3bc7a0ea 76
mbedalvaro 0:345b3bc7a0ea 77 // 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 78 // ex: if it is 180deg, then the blob just "bounces" on the zone transition; if it is 90, it does contour following...
mbedalvaro 1:a4050fee11f7 79
mbedalvaro 1:a4050fee11f7 80 // The following are common to all blobs:
mbedalvaro 1:a4050fee11f7 81 // float angleCorrectionForceLoop;
mbedalvaro 1:a4050fee11f7 82 // vector2D recenteringVectorLoop;
mbedalvaro 0:345b3bc7a0ea 83 // float angleRecenteringVector; // auxiliary variables for sending data (for the recenteringVectorLoop)
mbedalvaro 0:345b3bc7a0ea 84 // float normRecenteringVector;
mbedalvaro 1:a4050fee11f7 85
mbedalvaro 1:a4050fee11f7 86 float angleCorrectionForceNucleus;
mbedalvaro 1:a4050fee11f7 87 vector2D recenteringVectorNucleus;
mbedalvaro 0:345b3bc7a0ea 88
mbedalvaro 0:345b3bc7a0ea 89 // Numeric parameters:
mbedalvaro 0:345b3bc7a0ea 90 float massLoopParticle;
mbedalvaro 0:345b3bc7a0ea 91 float dampMotionMassesLoop;
mbedalvaro 0:345b3bc7a0ea 92 float massAnchor;
mbedalvaro 0:345b3bc7a0ea 93 float dampMotionAnchorMass;
mbedalvaro 4:f9d364f10335 94
mbedalvaro 4:f9d364f10335 95 // initial size, position and center-mass speed of the elastic loop:
mbedalvaro 4:f9d364f10335 96 float startRadius;
mbedalvaro 4:f9d364f10335 97 //vector2D startCenter; // this belongs to the base class
mbedalvaro 4:f9d364f10335 98 // vector2D startSpeed; // this belongs to base class
mbedalvaro 4:f9d364f10335 99
mbedalvaro 0:345b3bc7a0ea 100 float interSpringK, interSpringRelax;
mbedalvaro 0:345b3bc7a0ea 101 float centralSpringK, centralSpringRelax;
mbedalvaro 0:345b3bc7a0ea 102 float factorLightForce;
mbedalvaro 0:345b3bc7a0ea 103 float factorRecenteringAnchorMass;
mbedalvaro 0:345b3bc7a0ea 104 float factorRecenteringLoopMass;
mbedalvaro 0:345b3bc7a0ea 105 float factorPressureLoopMass;
mbedalvaro 0:345b3bc7a0ea 106 float factorForceBorder;
mbedalvaro 1:a4050fee11f7 107 float interParticleRange, factorInterParticleForce; // zach like blob force
mbedalvaro 0:345b3bc7a0ea 108
mbedalvaro 0:345b3bc7a0ea 109 // SOUND SENDING MODES (specific to this kind of blob object):
mbedalvaro 0:345b3bc7a0ea 110 /*
mbedalvaro 0:345b3bc7a0ea 111 // (a) anchor mass data:
mbedalvaro 0:345b3bc7a0ea 112 bool sendingAnchorPosition;
mbedalvaro 0:345b3bc7a0ea 113 bool sendingAnchorForce; // this is the total force on the anchor mass, not just the recentering force
mbedalvaro 0:345b3bc7a0ea 114 bool sendingAnchorTouchWall;
mbedalvaro 0:345b3bc7a0ea 115 // (b) data from blob points:
mbedalvaro 0:345b3bc7a0ea 116 bool sendingLoopPositions;
mbedalvaro 0:345b3bc7a0ea 117 bool sendingLoopForces;// this is not just the forces from light, but all the forces in each particle
mbedalvaro 0:345b3bc7a0ea 118 bool sendingLoopForcesLight;
mbedalvaro 0:345b3bc7a0ea 119 bool sendingLoopRegions; // from this we can detect "hits"
mbedalvaro 0:345b3bc7a0ea 120 bool sendingLoopTouchWall;
mbedalvaro 0:345b3bc7a0ea 121 // (c) Blob geometry:
mbedalvaro 0:345b3bc7a0ea 122 bool sendingBlobArea;
mbedalvaro 0:345b3bc7a0ea 123 bool sendingBlobNormals;
mbedalvaro 0:345b3bc7a0ea 124 bool sendingBlobAngles; // redundant with sendingBlobNormals, but simplified (only angle of normal)
mbedalvaro 0:345b3bc7a0ea 125 */
mbedalvaro 0:345b3bc7a0ea 126
mbedalvaro 0:345b3bc7a0ea 127 };
mbedalvaro 0:345b3bc7a0ea 128
mbedalvaro 0:345b3bc7a0ea 129 #endif