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Message #00594
[Branch ~nrtb-core/nrtb/alpha] Rev 18: Merged base_object bug-fixes.
Merge authors:
Rick Stovall <fpstovall>
Related merge proposals:
https://code.launchpad.net/~fpstovall/nrtb/sprint-005/+merge/209358
proposed by: Rick Stovall (fpstovall)
review: Approve - Rick Stovall (fpstovall)
------------------------------------------------------------
revno: 18 [merge]
committer: Rick Stovall <fpstovall>
branch nick: alpha
timestamp: Sun 2014-03-16 17:21:28 -0400
message:
Merged base_object bug-fixes.
modified:
cpp/sim_engine/base_object/base_object.cpp
cpp/sim_engine/base_object/base_object.h
cpp/sim_engine/base_object/base_object_test.cpp
--
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=== modified file 'cpp/sim_engine/base_object/base_object.cpp'
--- cpp/sim_engine/base_object/base_object.cpp 2014-01-12 17:24:44 +0000
+++ cpp/sim_engine/base_object/base_object.cpp 2014-02-20 02:33:34 +0000
@@ -72,10 +72,15 @@
float tmass = mass + mass_mod;
triplet a = force / tmass;
triplet ra = torque / (tmass * 0.5); // not accurate!!
- velocity += (a * quanta) + (accel_mod * quanta);
- rotation += (ra * quanta) + (torque_mod * quanta);
- location += velocity * quanta;
- attitude += rotation * quanta;
+ // compute quanta effective Vs
+ triplet ev = velocity + (((a + accel_mod)/2) * quanta);
+ triplet er = rotation + (((ra + torque_mod)/2) * quanta);
+ // compute final velocities for the quanta
+ velocity += (a + accel_mod) * quanta;
+ rotation += (ra + torque_mod) * quanta;
+ // update position, attitude
+ location += ev * quanta;
+ attitude += er * quanta;
// apply post-effectors
bool killme (false);
for (auto e : post_attribs)
@@ -84,11 +89,12 @@
return killme;
};
-bool base_object::check_collision(sphere s)
+bool base_object::check_collision(object_p o)
{
- float r = s.radius + bounding_sphere.radius;
- return r <=
- s.center.range(bounding_sphere.center+location);
+ float r = o->bounding_sphere.radius + bounding_sphere.radius;
+ triplet adjusted = o->bounding_sphere.center;
+ adjusted += o->location;
+ return (r >= adjusted.range(bounding_sphere.center+location));
};
void base_object::add_pre(abs_effector* e)
=== modified file 'cpp/sim_engine/base_object/base_object.h'
--- cpp/sim_engine/base_object/base_object.h 2014-01-05 00:33:52 +0000
+++ cpp/sim_engine/base_object/base_object.h 2014-01-25 18:55:09 +0000
@@ -76,9 +76,12 @@
virtual void add_post(abs_effector * e);
virtual abs_effector & get_post(unsigned long long i);
// sim methods
+ // returns true if a collision is detected.
+ virtual bool check_collision(object_p o);
+ // the following return true if the object is destroyed.
virtual bool tick(int time);
virtual bool apply(int time, float quanta);
- virtual bool check_collision(sphere s);
+ virtual bool apply_collision(object_p o) = 0;
protected:
effector_list pre_attribs;
effector_list post_attribs;
=== modified file 'cpp/sim_engine/base_object/base_object_test.cpp'
--- cpp/sim_engine/base_object/base_object_test.cpp 2014-01-12 17:13:10 +0000
+++ cpp/sim_engine/base_object/base_object_test.cpp 2014-02-20 02:33:34 +0000
@@ -72,14 +72,22 @@
};
};
+class my_object : public base_object
+{
+ bool apply_collision(object_p o)
+ {
+ return false;
+ };
+};
+
int main()
{
bool failed = false;
- cout << "=========== sim messages test ============="
+ cout << "========== base_object test ============="
<< endl;
cout << "Object setup:" << endl;
- base_object rocket_ball;
+ my_object rocket_ball;
rocket_ball.mass = 100;
rocket_ball.bounding_sphere.center = triplet(0);
rocket_ball.bounding_sphere.radius = 0.5;
@@ -123,8 +131,44 @@
cout << "Impact:" << time*0.02<< " sec." << endl;
cout << rocket_ball.as_str() << endl;
failed = failed or (time != 80);
-
- cout << "=========== sim_messages test complete ============="
+
+ cout << "\n** Flight Test: " << (failed ? "Failed" : "Passed") << endl;
+
+ // collision tests.
+ my_object fixed = rocket_ball;
+ fixed.location = 0;
+ object_p mobile(new my_object);
+ mobile->bounding_sphere = fixed.bounding_sphere;
+ stringstream results;
+
+ // check at various distances.
+ mobile->location = triplet(0,2,0);
+ bool t = fixed.check_collision(mobile);
+ results << fixed.location.range(mobile->location)
+ << "=" << t << ",";
+
+ mobile->location = triplet(0,1.01,0);
+ t = fixed.check_collision(mobile);
+ results << fixed.location.range(mobile->location)
+ << "=" << t << ",";
+
+ mobile->location = triplet(0,1,0);
+ t = fixed.check_collision(mobile);
+ results << fixed.location.range(mobile->location)
+ << "=" << t << ",";
+
+ mobile->location = triplet(0);
+ t = fixed.check_collision(mobile);
+ results << fixed.location.range(mobile->location)
+ << "=" << t;
+
+ bool c = results.str() != "2=0,1.01=0,1=1,0=1";
+ cout << results.str() << endl;
+ cout << "** Collision Test: " << (c ? "Failed" : "Passed") << endl;
+
+ failed = failed or c;
+
+ cout << "=========== base_object test complete ============="
<< endl;
return failed;