Changeset 3376 in orxonox.OLD

Timestamp:

Jan 8, 2005, 6:32:39 PM (19 years ago)

Author:

bensch

Message:

orxonox/branches/trackManager: c2-continuity-patch (mathematically correct, but does not look to good.)

Location:

orxonox/branches/trackManager/src

Files:

• curve.cc (modified) (1 diff)
• track_manager.cc (modified) (5 diffs)
• track_manager.h (modified) (1 diff)
• world.cc (modified) (2 diffs)

orxonox/branches/trackManager/src/curve.cc

@@ -94 +94 @@
 Vector Curve::getNode(unsigned int nodeToFind)
 {
-  if (nodeToFind > this->nodeCount)
+  if (nodeToFind > this->nodeCount || nodeToFind < 0)
     return Vector(0,0,0);
   PathNode* tmpNode = this->firstNode;

orxonox/branches/trackManager/src/track_manager.cc

@@ -152 +152 @@
 {
   this->currentTrackElem->childCount = childCount;
+  this->currentTrackElem->mainJoin = true;
   this->currentTrackElem->children = new TrackElement*[childCount];
   for (int i=0; i<childCount; i++)
@@ -159 +160 @@
       this->currentTrackElem->children[i]->startingTime = this->currentTrackElem->endTime;
       this->addPoint(this->currentTrackElem->curve->getNode(this->currentTrackElem->curve->getNodeCount()), this->currentTrackElem->children[i]);
-      this->addPoint((this->currentTrackElem->children[i]->curve->getNode(0) *2) - this->currentTrackElem->curve->getNode(this->currentTrackElem->curve->getNodeCount()-1),  this->currentTrackElem->children[i]);
     }
 }
@@ -380 +380 @@
   TrackElement* firstJoint = this->currentTrackElem;
   Vector tmpEndPoint = firstJoint->curve->getNode(firstJoint->curve->getNodeCount());
-  Vector tmpTangentPoint = firstJoint->curve->getNode(firstJoint->curve->getNodeCount()-1); 
+  Vector tmpTangentPoint = firstJoint->curve->getNode(firstJoint->curve->getNodeCount()-1);
+  Vector tmpc2Point = firstJoint->curve->getNode(firstJoint->curve->getNodeCount()-2);
   firstJoint->isJoined = true;
-  firstJoint->mainJoin = true;
+  //  firstJoint->mainJoin = true;
   if(!firstJoint->isHotPoint)
     this->setSavePoint();
@@ -401 +402 @@
       else
         {
+          this->addPoint(tmpc2Point, tmpJoinElem);
           this->addPoint(tmpTangentPoint, tmpJoinElem);
           this->addPoint(tmpEndPoint, tmpJoinElem);
@@ -421 +423 @@
   this->workOn(tmpCurrentWorkingID);
 }
+
+/**
+   \brief finalizes the TrackSystem. after this it will not be editable anymore
+*/
+void TrackManager::finalize(void)
+{
+  for (int i = 1; i<= trackElemCount ;i++)
+    {
+      TrackElement* tmpElem = findTrackElementByID(i);
+      if (tmpElem->childCount>0 && tmpElem->mainJoin)
+        {
+          for (int j = 0; j < tmpElem->childCount; j++)
+            {
+              
+              // c1-continuity
+              tmpElem->children[j]->curve->addNode(tmpElem->children[j]->curve->getNode(0) +
+                                                   ((tmpElem->children[j]->curve->getNode(0) - 
+                                                    tmpElem->curve->getNode(tmpElem->curve->getNodeCount()-1))
+                                                    ),2);
+              tmpElem->children[j]->nodeCount++;
+              // c2-continuity
+              tmpElem->children[j]->curve->addNode((tmpElem->curve->getNode(tmpElem->curve->getNodeCount())-
+                                                    tmpElem->curve->getNode(tmpElem->curve->getNodeCount()-1)) * 4 +
+                                                   tmpElem->curve->getNode(tmpElem->curve->getNodeCount()-2), 3);
+              tmpElem->children[j]->nodeCount++;                                                    
+              printf("accelerations: %d-in: count: %d, %f, %f, %f\n                  %d-out: count: %d %f, %f, %f\n",
+                     tmpElem->ID, tmpElem->nodeCount,
+                     tmpElem->curve->calcAcc(0.999).x, tmpElem->curve->calcAcc(0.999).y, tmpElem->curve->calcAcc(0.999).z,
+                     tmpElem->children[j]->ID, tmpElem->children[j]->nodeCount,
+                     tmpElem->children[j]->curve->calcAcc(0).x, tmpElem->children[j]->curve->calcAcc(0).y, tmpElem->children[j]->curve->calcAcc(0).z);
+            }
+        }
+    }
+}
+
 
 // RUNTIME //

orxonox/branches/trackManager/src/track_manager.h

@@ -129 +129 @@
   void join(unsigned int count, ...);
   void joinV(unsigned int count, int* trackIDs);
+  void finalize(void);
 
   // Methods to calculate the position on the Path (runtime)

orxonox/branches/trackManager/src/world.cc

@@ -139 +139 @@
 void World::destroy()
 {
+  delete trackManager;
 }
 
@@ -228 +229 @@
       trackManager->workOn(10);
       trackManager->addPoint(Vector(250,-10,5));
+      trackManager->addPoint(Vector(260,-10,5));
+      trackManager->finalize();
       
       /*