File content as of revision 35:b4e1b8f25cd7:

#include "triangle.h"
#include "pi.h"
#include <math.h>
void Triangle::SetTriangleParam(float offset_x_m, float offset_y_m, float stride_m, float height_m, float buffer_height_m,
                                float stridetime_s, float toptime_s, float buffer_time_s)
{
    reverse_tanbeta_ = 1.0 / tan(81.0 / 180.0 * M_PI); //論文よりこれが最適らしい
    offset_x_m_ = offset_x_m;
    offset_y_m_ = offset_y_m;
    stride_m_ = stride_m;
    height_m_ = height_m;               //足上げ幅
    buffer_height_m_ = buffer_height_m; //着地直前で止める高さ
    stridetime_s_ = stridetime_s;
    toptime_s_ = toptime_s;         //頂点に行くまでの時間
    buffer_time_s_ = buffer_time_s; //頂点から一時停止点までの時間.

    //事前に計算しておく
    CalOtherParam();
}
void Triangle::CalOtherParam()
{
    top_x_m_ = offset_x_m_ + stride_m_ * 0.5 - height_m_ * reverse_tanbeta_;
    top_y_m_ = -height_m_ + offset_y_m_;
    buffer_x_m_ = offset_x_m_ + stride_m_ * 0.5 - buffer_height_m_ * reverse_tanbeta_;
    buffer_y_m_ = -buffer_height_m_ + offset_y_m_;
}
//足一周の時間
float Triangle::GetOneWalkTime()
{
    return stridetime_s_ + toptime_s_ + buffer_time_s_;
};
int Triangle::GetOrbit(OneLeg &leg, float phasetime_s)
{
    int ret = 0;
    if (phasetime_s < stridetime_s_)
        ret = StrideLineAccel_(leg, phasetime_s);
    else if (phasetime_s < stridetime_s_ + toptime_s_)
        ret = leg.SetXY_m(top_x_m_, top_y_m_);
    else
        ret = leg.SetXY_m(buffer_x_m_, buffer_y_m_);
    return ret;
};
int Triangle::StrideLine_(OneLeg &leg, float phasetime_s)
{
    float x_m = -stride_m_ * phasetime_s / stridetime_s_ + stride_m_ * 0.5 + offset_x_m_;
    float y_m = offset_y_m_;
    return leg.SetXY_m(x_m, y_m);
}
int Triangle::StrideLineAccel_(OneLeg &leg, float phasetime_s)
{
    ///////////x,yを計算
    float s0 = stride_m_ * 0.5 + offset_x_m_;
    float s1 = offset_x_m_ - stride_m_ * 0.5;
    float g_h = sqrtf(kGravity / offset_y_m_);
    float t = phasetime_s / stridetime_s_;
    float denominator = expf(g_h) - expf(-g_h); //分母

    float x_m = -(s0 * expf(-g_h) - s1) * expf(g_h * t) / denominator + (s0 * expf(g_h) - s1) * expf(-g_h * t) / denominator;
    float y_m = offset_y_m_;
    //x,yを代入
    return leg.SetXY_m(x_m, y_m);
}
void Triangle::ChangeOneParam(TriangleParams param, float val)
{
    switch (param)
    {
    case OFFSET_X_M:
        offset_x_m_ = val;
        break;
    case OFFSET_Y_M:
        offset_y_m_ = val;
        break;
    case STRIDE_M:
        stride_m_ = val;
        break;
    case HEIGHT_M:
        height_m_ = val;
        break;
    case BUFFER_HEIGHT_M:
        buffer_height_m_ = val;
        break;
    }
    CalOtherParam();
}
void Triangle::Copy(const Triangle & origin){
    *this = origin;
}