297 lines
7.1 KiB
C++
297 lines
7.1 KiB
C++
#include "wagon.h"
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#define SLOWVELOCITY 0.1
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#define WAGONLENGTH 5
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#define EDGE_WALL
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//#define EDGE_BOUNCE
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//#define EDGE_WRAP
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Wagon::Wagon(int id,int numpixels, Adafruit_NeoPixel *strip,uint8_t *height,float pos, float trainlength,float startvel,float startacc, float wagonmass, uint32_t wagoncolor)
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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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_trainlength = trainlength;
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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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_wagonmass=wagonmass; //mass of whole train
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_spawntime=millis();
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_lastvel=startvel;
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_lastpositivedirchangepos=_numpixels+1000;
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_lastpositivedirchangePosDifference=1000;
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_wagoncolor=wagoncolor;
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_health=1.0;
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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-_trainlength);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(_trainlength);
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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 (zug)
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#define AIRRESFIRST 0.18 //C_w*A*0.5*rho Air resistance: C_w * A * 0.5 * rho (.... *v^2)
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#define AIRRES 0.01 //for slipstream at second wagon
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#define AIRRESMUL 0.7 //how much of air resistance the next wagon has
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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=_wagonmass; //mass of part of a wagon
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_acc=0;
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int cpos=(int)_pos;
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uint8_t wagonnumber=0;
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for (int cpos=(int)_pos;cpos>(int)(_pos-_trainlength);cpos--){ //for each wagon
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if (wagonnumber%WAGONLENGTH==0) { //every n-th pixel is a 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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//Roll Resistance
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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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//Air Resistance
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float cc=0;
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if (wagonnumber==0){ //first wagon
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cc=AIRRESFIRST/m*pow(_vel,2); //air resistance for first wagon
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}else {
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cc=AIRRES/m*pow(_vel,2) *pow(AIRRESMUL,wagonnumber-1); //air resistance
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}
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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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wagonnumber++;
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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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if (_lastvel*_vel<0 && _lastvel>=0){ //direction changed, positive
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_lastpositivedirchangePosDifference=_lastpositivedirchangepos-_pos;
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Serial.print("DC pos=");
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Serial.print(_pos);
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Serial.print(" last=");
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Serial.print(_lastpositivedirchangepos);
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Serial.print(" diff=");
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Serial.println(_lastpositivedirchangePosDifference);
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_lastpositivedirchangepos=_pos;
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}
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_lastvel=_vel;
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if (_pos>=_numpixels){
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#ifdef EDGE_WRAP
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_pos-=_numpixels; //Wrap around edges
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#endif
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#ifdef EDGE_BOUNCE
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_vel*=-1; //bounce at edges
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#endif
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#ifdef EDGE_WALL
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//nothing
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#endif
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}
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if (_pos<0){
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#ifdef EDGE_WRAP
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_pos=_numpixels+_pos; //warp around edges
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#endif
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#ifdef EDGE_BOUNCE
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_vel*=-1;; //bounce at edges
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#endif
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#ifdef EDGE_WALL
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//nothing
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#endif
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}
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//fade out if health got low
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if (_health<1.0 && _health>0.0){
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_health-=0.0001; //reduce until 0
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}
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}
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float Wagon::getHeight(int p){
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if (p<0){
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#ifdef EDGE_WRAP
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p=numpixels+p; //wrap edge
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#endif
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#ifdef EDGE_WALL
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return _height[0]+p*-100.0; //edges as wall
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#endif
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}else if(p>=_numpixels){
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#ifdef EDGE_WRAP
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p=p-numpixels; //wrap edge
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#endif
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#ifdef EDGE_WALL
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return _height[_numpixels-1]+(p-_numpixels)*100.0; //edges as wall
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#endif
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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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float wagonfeathering=2;
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for(int i=_pos+wagonfeathering;i>_pos-_trainlength-wagonfeathering;i--){
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float featherbrightness=1;
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if (i>_pos){ //in front of wagon
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featherbrightness=1 - (i-_pos)/wagonfeathering;
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}else if (i<_pos-_trainlength){ //behind of wagon
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featherbrightness=1 - (_pos-_trainlength -i)/wagonfeathering;
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}
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if (featherbrightness<=0){ //distpercent between 0 and 1. 1-> full brightness, 0-> feathering distance away
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featherbrightness=0;
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}
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//uint32_t c=_strip->Color(0,255*featherbrightness,0);
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//uint32_t c=Wheel(_height[i]/45.0*255,featherbrightness);
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//uint8_t b=_height[i]*255/45;
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//uint8_t b=abs(_vel)*255.0;
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//uint32_t c=_strip->Color(b*featherbrightness,(255-b)*featherbrightness,0);
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float healtpositive=_health;
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if(healtpositive<0){ //only positive values for color
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healtpositive=0;
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}
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uint32_t c=_wagoncolor;
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uint8_t _r = (uint8_t)(c >> 16)*healtpositive;
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uint8_t _g = (uint8_t)(c >> 8)*healtpositive;
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uint8_t _b = (uint8_t)c*healtpositive;
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_r*=featherbrightness;
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_g*=featherbrightness;
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_b*=featherbrightness;
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uint32_t _pxcolor=_strip->getPixelColor(i); //get current color of that pixel
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uint8_t _pxr = _pxcolor >> 16;
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uint8_t _pxg = _pxcolor >> 8;
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uint8_t _pxb = _pxcolor;
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uint16_t _tmpr=_pxr+_r; //add colors
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uint16_t _tmpg=_pxg+_g;
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uint16_t _tmpb=_pxb+_b;
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if (_tmpr>255){ //clamp
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_tmpr=255;
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}
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if (_tmpg>255){
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_tmpg=255;
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}
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if (_tmpb>255){
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_tmpb=255;
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}
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_strip->setPixelColor(i,_tmpr,_tmpg,_tmpb); //draw pixel
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}
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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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long Wagon::spawntime()
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{
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return _spawntime;
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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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/*if (millis()>_spawntime+30*1000){ //too old
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return false;
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}*/
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if (_lastpositivedirchangePosDifference<=5){ //reduce health
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//return false;
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_health-=0.1;
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}
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if (_health<=0) {
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return false;
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}
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return true;
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}
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uint32_t Wagon::Wheel(byte WheelPos,float brightness) {
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WheelPos = 255 - WheelPos;
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if(WheelPos < 85) {
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return _strip->Color(255 - WheelPos * 3*brightness, 0, WheelPos * 3*brightness);
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}
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if(WheelPos < 170) {
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WheelPos -= 85;
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return _strip->Color(0, WheelPos * 3*brightness, 255 - WheelPos * 3*brightness);
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}
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WheelPos -= 170;
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return _strip->Color(WheelPos * 3*brightness, 255 - WheelPos * 3*brightness, 0);
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}
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