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Move speed function out to its own class

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This commit is contained in:
Emma Broman
2020-04-22 13:55:56 +02:00
parent f9c0ec202f
commit 4477fffb73
6 changed files with 172 additions and 82 deletions
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modules/autonavigation/pathsegment.cpp
+14 -61
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@@ -24,13 +24,9 @@
#include <modules/autonavigation/pathsegment.h>
#include <modules/autonavigation/helperfunctions.h>
#include <modules/autonavigation/pathcurves.h>
#include <openspace/engine/globals.h>
#include <openspace/interaction/navigationhandler.h>
#include <openspace/util/camera.h>
#include <ghoul/logging/logmanager.h>
#include <ghoul/misc/easing.h>
namespace {
constexpr const char* _loggerCat = "PathSegment";
@@ -38,18 +34,24 @@ namespace {
namespace openspace::autonavigation {
PathSegment::PathSegment(
Waypoint start, Waypoint end, CurveType type)
PathSegment::PathSegment(Waypoint start, Waypoint end, CurveType type,
std::optional<double> duration = std::nullopt)
: _start(start), _end(end), _curveType(type)
{
initCurve();
// TODO: compute default duration based on curve length
// Also, when compensatng for simulation time later we need to make a guess for
// the duration, based on the current position of the target.
_duration = 5;
// TODO: handle duration better
if (duration.has_value()) {
_duration = duration.value();
}
else {
// TODO: compute default duration based on curve length
// Also, when compensatng for simulation time later we need to make a guess for
// the duration, based on the current position of the target.
_duration = 5;
}
_speedFunction = SpeedFunction(_duration);
_speedFunction = std::make_unique<CubicDampenedSpeed>(_duration); // TODO: per curve type
}
void PathSegment::setStart(Waypoint cs) {
@@ -58,11 +60,6 @@ void PathSegment::setStart(Waypoint cs) {
// TODO later: maybe recompute duration as well...
}
void PathSegment::setDuration(double d) {
_duration = d;
_speedFunction = SpeedFunction(_duration);
}
const Waypoint PathSegment::start() const { return _start; }
const Waypoint PathSegment::end() const { return _end; }
@@ -111,16 +108,8 @@ bool PathSegment::hasReachedEnd() const {
return (_traveledDistance / pathLength()) >= 1.0;
}
/*
* Get speed at time value in the range [0, duration]
* OBS! If integrated over the curve it must match the total length or the curve.
* Thus, we scale according to the constraint in eq. 14 in Eberly 2007
* (https://www.geometrictools.com/Documentation/MovingAlongCurveSpecifiedSpeed.pdf)
*/
double PathSegment::speedAtTime(double time) const {
ghoul_assert(time >= 0 && time <= _duration, "Time out of range [0, duration]");
double t = std::clamp(time / _duration, 0.0, 1.0);
return (pathLength() * _speedFunction.value(t)) / _speedFunction.integratedSum;
return _speedFunction->scaledValue(time, _duration, pathLength());
}
CameraPose PathSegment::interpolatedPose(double u) const {
@@ -147,40 +136,4 @@ void PathSegment::initCurve() {
}
}
PathSegment::SpeedFunction::SpeedFunction(double duration) {
// apply duration constraint (eq. 14 in Eberly)
double speedSum = 0.0;
int steps = 100;
double dt = duration / steps;
const double h = 1.0 / steps;
for (double t = 0.0; t <= 1.0; t += h) {
double midpointSpeed = 0.5 * (value(t + 0.5*h) + value(t - 0.5*h));
speedSum += dt * midpointSpeed;
}
integratedSum = speedSum;
}
double PathSegment::SpeedFunction::value(double t) const {
ghoul_assert(t >= 0.0 && t <= 1.0, "Variable t out of range [0,1]");
const double tPeak = 0.5;
double speed = 1.0;
// accelerate
if (t <= tPeak) {
double tScaled = t / tPeak;
speed = ghoul::cubicEaseInOut(tScaled);
}
// deaccelerate
else if (t < 1.0) {
double tScaled = (t - tPeak) / (1.0 - tPeak);
speed = 1.0 - ghoul::cubicEaseInOut(tScaled);
}
// avoid zero speed
speed += 0.001;
return speed;
}
} // namespace openspace::autonavigation