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https://github.com/OpenSpace/OpenSpace.git
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101 lines
4.3 KiB
C++
101 lines
4.3 KiB
C++
/*****************************************************************************************
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* *
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* OpenSpace *
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* *
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* Copyright (c) 2014-2021 *
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* *
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* Permission is hereby granted, free of charge, to any person obtaining a copy of this *
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* software and associated documentation files (the "Software"), to deal in the Software *
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* without restriction, including without limitation the rights to use, copy, modify, *
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* merge, publish, distribute, sublicense, and/or sell copies of the Software, and to *
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* permit persons to whom the Software is furnished to do so, subject to the following *
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* conditions: *
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* *
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* The above copyright notice and this permission notice shall be included in all copies *
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* or substantial portions of the Software. *
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* *
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, *
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* INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A *
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* PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT *
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* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF *
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* CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE *
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* OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. *
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****************************************************************************************/
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#include <modules/autonavigation/speedfunction.h>
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#include <modules/autonavigation/helperfunctions.h>
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#include <ghoul/logging/logmanager.h>
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#include <ghoul/misc/easing.h>
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#include <algorithm>
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namespace {
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constexpr const char* _loggerCat = "SpeedFunction";
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} // namespace
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namespace openspace::autonavigation {
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SpeedFunction::SpeedFunction(Type type) : _type(type) {
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initializeIntegratedSum();
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}
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SpeedFunction::~SpeedFunction() {}
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/*
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* Get speed at time value in the range [0, duration], scaled according to the constraint
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* in eq. 14 in Eberly 2007
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* (https://www.geometrictools.com/Documentation/MovingAlongCurveSpecifiedSpeed.pdf)
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* OBS! If integrated over the duration for the path it shall match the total length.
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*/
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double SpeedFunction::scaledValue(double time, double duration, double pathLength) const {
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ghoul_assert(time >= 0 && time <= duration, "Time out of range [0, duration]");
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double t = std::clamp(time / duration, 0.0, 1.0);
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return (pathLength * this->value(t)) / (duration * _integratedSum);
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}
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void SpeedFunction::initializeIntegratedSum() {
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const int steps = 100;
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_integratedSum = helpers::simpsonsRule(
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0.0,
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1.0,
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steps,
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[this](double t) { return value(t); }
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);
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}
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double SpeedFunction::value(double t) const {
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ghoul_assert(t >= 0.0 && t <= 1.0, "Variable t out of range [0,1]");
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const double tPeak = 0.5;
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double speed = 0.0;
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auto applyEasingFunction = [this](double tScaled) {
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switch (_type) {
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case Type::DampenedQuintic:
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return ghoul::cubicEaseInOut(ghoul::quadraticEaseInOut(tScaled));
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break;
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case Type::DampenedSextic:
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return ghoul::cubicEaseInOut(ghoul::cubicEaseInOut(tScaled));
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default:
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throw ghoul::MissingCaseException();
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}
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};
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// Accelerate
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if (t <= tPeak) {
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double tScaled = t / tPeak;
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speed = applyEasingFunction(tScaled);
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}
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// Deccelerate
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else if (t <= 1.0) {
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double tScaled = (t - tPeak) / (1.0 - tPeak);
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speed = 1.0 - applyEasingFunction(tScaled);
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}
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// Avoid zero speed
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speed += 0.00001; // TODO: Minimal speed should depend on size of visible object/node
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return speed;
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}
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} // namespace openspace::autonavigation
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