/*
- * dyncnn is a deep-learning algorithm for the prediction of
- * interacting object dynamics
- *
- * Copyright (c) 2016 Idiap Research Institute, http://www.idiap.ch/
- * Written by Francois Fleuret <francois.fleuret@idiap.ch>
- *
- * This file is part of dyncnn.
- *
- * dyncnn is free software: you can redistribute it and/or modify it
- * under the terms of the GNU General Public License version 3 as
- * published by the Free Software Foundation.
- *
- * dyncnn is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with dyncnn. If not, see <http://www.gnu.org/licenses/>.
- *
- */
+
+ flatland is a simple 2d physical simulator
+
+ Copyright (c) 2016 Idiap Research Institute, http://www.idiap.ch/
+ Written by Francois Fleuret <francois.fleuret@idiap.ch>
+
+ This file is part of flatland
+
+ flatland is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License version 3 as
+ published by the Free Software Foundation.
+
+ flatland is distributed in the hope that it will be useful, but
+ WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with flatland. If not, see <http://www.gnu.org/licenses/>.
+
+*/
#include <iostream>
static const scalar_t dl = 20.0;
static const scalar_t repulsion_constant = 0.2;
-static const scalar_t dissipation = 0.5;
+static const scalar_t speed_max = 1e2;
+static const scalar_t angular_speed_max = M_PI / 10;
Polygon::Polygon(scalar_t mass,
scalar_t red, scalar_t green, scalar_t blue,
}
bool Polygon::update(scalar_t dt) {
+ scalar_t speed = sqrt(_dcenter_x * _dcenter_x + _dcenter_y * _dcenter_y);
+
+ if(speed > 0) {
+ scalar_t speed_target = speed_max - exp(-speed / speed_max) * speed_max;
+ _dcenter_x = speed_target * _dcenter_x / speed;
+ _dcenter_y = speed_target * _dcenter_y / speed;
+ }
+
+ scalar_t angular_speed = abs(_dtheta);
+
+ if(angular_speed > 0) {
+ scalar_t angular_speed_target = angular_speed_max - exp(-angular_speed / angular_speed_max) * angular_speed_max;
+ _dtheta = angular_speed_target * _dtheta / angular_speed;
+ }
+
if(!_nailed) {
_center_x += _dcenter_x * dt;
_center_y += _dcenter_y * dt;
_theta += _dtheta * dt;
}
- scalar_t d = exp(log(dissipation) * dt);
- _dcenter_x *= d;
- _dcenter_y *= d;
- _dtheta *= d;
-
scalar_t vx = cos(_theta), vy = sin(_theta);
for(int n = 0; n < _nb_vertices; n++) {
scalar_t x = _x[v] * (1 - s) + _x[vp] * s;
scalar_t y = _y[v] * (1 - s) + _y[vp] * s;
scalar_t vx = 0, vy = 0;
- if(x < xmin) vx = xmin - x;
+ if(x < xmin) vx = x - xmin;
else if(x > xmax) vx = x - xmax;
- if(y < ymin) vy = ymin - y;
+ if(y < ymin) vy = y - ymin;
else if(y > ymax) vy = y - ymax;
- apply_force(dt, x, y, - dl * vx * repulsion_constant, - dl * vy * repulsion_constant);
+ if(vx != 0 || vy != 0) {
+ // cerr << "apply_border_forces vx = " << vx << " vy = " << vy << endl;
+ apply_force(dt, x, y,
+ - dl * vx * repulsion_constant, - dl * vy * repulsion_constant);
+ }
}
}
}