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b5a3d868ec
Curve parameter (u) samples are computed from arc length values using a combination of Newton's method and bisection. Approximated curve parameter is comuted using a linear fit of the samples (OBS! Should be improved to a higher order later )
89 lines
3.9 KiB
C++
89 lines
3.9 KiB
C++
/*****************************************************************************************
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* *
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* OpenSpace *
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* *
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* Copyright (c) 2014-2019 *
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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 <ghoul/logging/logmanager.h>
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#include <ghoul/misc/easing.h>
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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() {}
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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::initIntegratedSum() {
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// apply duration constraint (eq. 14 in Eberly)
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double speedSum = 0.0;
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int steps = 100;
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double h = 1.0 / steps;
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for (double t = 0.0; t <= 1.0; t += h) {
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double midpointSpeed = 0.5 * (value(t + 0.5*h) + value(t - 0.5*h));
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speedSum += h * midpointSpeed;
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}
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_integratedSum = speedSum;
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}
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CubicDampenedSpeed::CubicDampenedSpeed() {
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initIntegratedSum();
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}
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double CubicDampenedSpeed::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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// accelerate
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if (t <= tPeak) {
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double tScaled = t / tPeak;
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speed = ghoul::cubicEaseInOut(tScaled);
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}
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// deaccelerate
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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 - ghoul::cubicEaseInOut(tScaled);
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}
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// avoid zero speed
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speed += 0.001; // OBS! This value gets really big for large distances..
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return speed;
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}
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} // namespace openspace::autonavigation
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