135 lines
2.9 KiB
C++
135 lines
2.9 KiB
C++
#include "wagon.h"
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Wagon::Wagon(int id,int numpixels, Adafruit_NeoPixel *strip,uint8_t *height,float pos, float wagonlength,float startvel,float startacc)
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{
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_id = id;
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_numpixels=numpixels;
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_pos = pos;
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_wagonlength = wagonlength;
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_strip=strip;
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_height=height;
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_vel=startvel;
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_acc=startacc;
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}
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bool Wagon::operator==(const Wagon &r) const {
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return (r._id == _id);
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}
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void Wagon::updatePhysics(float updatedelayms)
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{
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/*
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float acceleration=0;
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for (int cpos=int(_pos);cpos>int(_pos-_wagonlength);cpos--){
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acceleration=(_height[(int)cpos]-_height[(int)cpos+1])*0.03;
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}
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acceleration/=int(_wagonlength);
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_vel+= acceleration; //Acceleration from height difference
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_vel*=1-0.001; //resistance
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float airresistance=_vel*_vel *0.005;//air resistance
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if (_vel>=0){
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_vel-=airresistance;
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}else{
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_vel+=airresistance;
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}*/
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#define CONST_G 9.81
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#define PIXELDISTANCE 1.6666667 // 1/60.0 * 100
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#define C_ROLL 0.001 // = Croll * G https://de.wikipedia.org/wiki/Rollwiderstand 0.001
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#define AIRRES 0.18 //C_w*A*0.5*rho Air resistance: C_w * A * 0.5 * rho (.... *v^2)
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//http://www.kfz-tech.de/Biblio/Formelsammlung/Luftwiderstand.htm C_w 0.6
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//rho Massendichte luft 1,2041
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//A = 1m^2
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float m=50/_wagonlength; //mass of part of a wagon
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_acc=0;
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int cpos=(int)_pos;
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for (int cpos=(int)_pos;cpos>(int)(_pos-_wagonlength);cpos--){ //for each wagon
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float hdiff=getHeight((int) (cpos-0.5)) - getHeight((int)(cpos+0.5));
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//Serial.print("hdiff=");
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//Serial.print(hdiff);
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float beta=atan2(PIXELDISTANCE, hdiff);
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//Serial.print(" beta=");
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//Serial.println(beta);
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//_acc += CONST_G * cos(beta) - C_ROLLG*sin(beta) - AIRRES/m*_vel*_vel;
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float aa=CONST_G * cos(beta) *updatedelayms/1000; //Gravity and m/s^2 time correction
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float bb=C_ROLL*CONST_G*updatedelayms/1000*sin(beta); //roll resistance
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if (_vel<0){
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bb*=-1;
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}
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float cc=AIRRES/m*_vel*_vel; //air resistance
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if (_vel<0){
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cc*=-1;
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}
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//Serial.print("aa="); Serial.print(aa);
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//Serial.print(" bb="); Serial.print(bb);
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//Serial.print(" cc="); Serial.println(cc);
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_acc += aa - bb - cc;
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}
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_acc*=updatedelayms/1000;
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_vel += _acc;
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_pos += _vel/PIXELDISTANCE;
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/*Serial.print(" Vel=");
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Serial.print(_vel);
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Serial.print(" Acc=");
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Serial.println(_acc);*/
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}
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float Wagon::getHeight(int p){
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if (p<0){
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p=0;
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}else if(p>=_numpixels){
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p=_numpixels-1;
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}
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return _height[p];
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}
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void Wagon::updateGraphics()
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{
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for(int i=_pos;i>_pos-_wagonlength;i--){
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uint32_t c=_strip->Color(0,255,0);
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if (i==int(_pos)){
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c=_strip->Color(0,255,100);
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}
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_strip->setPixelColor(i,c);
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}
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//_strip->setPixelColor(10,_strip->Color(255,0,0));
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}
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int Wagon::pos()
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{
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return _pos;
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}
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int Wagon::id()
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{
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return _id;
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}
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bool Wagon::alive()
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{
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if (_pos>_numpixels){
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return false;
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}
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return true;
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}
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