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ws2812-achterbahn/wagon.cpp

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#include "wagon.h"
#define SLOWVELOCITY 0.1
#define WAGONLENGTH 5
#define EDGE_WALL
//#define EDGE_BOUNCE
//#define EDGE_WRAP
uint8_t GammaE[] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2,
2, 2, 2, 3, 3, 3, 3, 3, 4, 4, 4, 4, 5, 5, 5, 5,
6, 6, 6, 7, 7, 7, 8, 8, 8, 9, 9, 9, 10, 10, 11, 11,
11, 12, 12, 13, 13, 13, 14, 14, 15, 15, 16, 16, 17, 17, 18, 18,
19, 19, 20, 21, 21, 22, 22, 23, 23, 24, 25, 25, 26, 27, 27, 28,
29, 29, 30, 31, 31, 32, 33, 34, 34, 35, 36, 37, 37, 38, 39, 40,
40, 41, 42, 43, 44, 45, 46, 46, 47, 48, 49, 50, 51, 52, 53, 54,
55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70,
71, 72, 73, 74, 76, 77, 78, 79, 80, 81, 83, 84, 85, 86, 88, 89,
90, 91, 93, 94, 95, 96, 98, 99,100,102,103,104,106,107,109,110,
111,113,114,116,117,119,120,121,123,124,126,128,129,131,132,134,
135,137,138,140,142,143,145,146,148,150,151,153,155,157,158,160,
162,163,165,167,169,170,172,174,176,178,179,181,183,185,187,189,
191,193,194,196,198,200,202,204,206,208,210,212,214,216,218,220,
222,224,227,229,231,233,235,237,239,241,244,246,248,250,252,255};
Wagon::Wagon(int id,int numpixels, Adafruit_NeoPixel *strip,uint8_t *height,float pos, float trainlength,float startvel,float startacc, float wagonmass, uint32_t wagoncolor)
{
_id = id;
_numpixels=numpixels;
_pos = pos;
_trainlength = trainlength;
_strip=strip;
_height=height;
_vel=startvel;
_acc=startacc;
_wagonmass=wagonmass; //mass of whole train
_spawntime=millis();
_lastvel=startvel;
_lastpositivedirchangepos=_numpixels+1000;
_lastpositivedirchangePosDifference=1000;
_wagoncolor=wagoncolor;
_health=1.0;
}
bool Wagon::operator==(const Wagon &r) const {
return (r._id == _id);
}
void Wagon::updatePhysics(float updatedelayms)
{
/*
float acceleration=0;
for (int cpos=int(_pos);cpos>int(_pos-_trainlength);cpos--){
acceleration=(_height[(int)cpos]-_height[(int)cpos+1])*0.03;
}
acceleration/=int(_trainlength);
_vel+= acceleration; //Acceleration from height difference
_vel*=1-0.001; //resistance
float airresistance=_vel*_vel *0.005;//air resistance
if (_vel>=0){
_vel-=airresistance;
}else{
_vel+=airresistance;
}*/
#define CONST_G 9.81
#define PIXELDISTANCE 1.6666667 // 1/60.0 * 100
#define C_ROLL 0.001 // = Croll * G https://de.wikipedia.org/wiki/Rollwiderstand 0.001 (zug)
#define AIRRESFIRST 0.18 //C_w*A*0.5*rho Air resistance: C_w * A * 0.5 * rho (.... *v^2)
#define AIRRES 0.01 //for slipstream at second wagon
#define AIRRESMUL 0.7 //how much of air resistance the next wagon has
//http://www.kfz-tech.de/Biblio/Formelsammlung/Luftwiderstand.htm C_w 0.6
//rho Massendichte luft 1,2041
//A = 1m^2
float m=_wagonmass; //mass of part of a wagon
_acc=0;
int cpos=(int)_pos;
uint8_t wagonnumber=0;
for (int cpos=(int)_pos;cpos>(int)(_pos-_trainlength);cpos--){ //for each wagon
if (wagonnumber%WAGONLENGTH==0) { //every n-th pixel is a wagon
float hdiff=getHeight((int) (cpos-0.5)) - getHeight((int)(cpos+0.5));
//Serial.print("hdiff=");
//Serial.print(hdiff);
float beta=atan2(PIXELDISTANCE, hdiff);
//Serial.print(" beta=");
//Serial.println(beta);
//_acc += CONST_G * cos(beta) - C_ROLLG*sin(beta) - AIRRES/m*_vel*_vel;
float aa=CONST_G * cos(beta) *updatedelayms/1000; //Gravity and m/s^2 time correction
//Roll Resistance
float bb=C_ROLL*CONST_G*updatedelayms/1000*sin(beta); //roll resistance
if (_vel<0){
bb*=-1;
}
//Air Resistance
float cc=0;
if (wagonnumber==0){ //first wagon
cc=AIRRESFIRST/m*pow(_vel,2); //air resistance for first wagon
}else {
cc=AIRRES/m*pow(_vel,2) *pow(AIRRESMUL,wagonnumber-1); //air resistance
}
if (_vel<0){
cc*=-1;
}
//Serial.print("aa="); Serial.print(aa);
//Serial.print(" bb="); Serial.print(bb);
//Serial.print(" cc="); Serial.println(cc);
_acc += aa - bb - cc;
}
wagonnumber++;
}
_acc*=updatedelayms/1000;
_vel += _acc;
_pos += _vel/PIXELDISTANCE;
/*Serial.print(" Vel=");
Serial.print(_vel);
Serial.print(" Acc=");
Serial.println(_acc);*/
if (_lastvel*_vel<0 && _lastvel>=0){ //direction changed, positive
_lastpositivedirchangePosDifference=_lastpositivedirchangepos-_pos;
Serial.print("DC pos=");
Serial.print(_pos);
Serial.print(" last=");
Serial.print(_lastpositivedirchangepos);
Serial.print(" diff=");
Serial.println(_lastpositivedirchangePosDifference);
_lastpositivedirchangepos=_pos;
}
_lastvel=_vel;
if (_pos>=_numpixels){
#ifdef EDGE_WRAP
_pos-=_numpixels; //Wrap around edges
#endif
#ifdef EDGE_BOUNCE
_vel*=-1; //bounce at edges
#endif
#ifdef EDGE_WALL
//nothing
#endif
}
if (_pos<0){
#ifdef EDGE_WRAP
_pos=_numpixels+_pos; //warp around edges
#endif
#ifdef EDGE_BOUNCE
_vel*=-1;; //bounce at edges
#endif
#ifdef EDGE_WALL
//nothing
#endif
}
//fade out if health got low
if (_health<1.0 && _health>0.0){
_health-=0.0001; //reduce until 0
}
}
float Wagon::getHeight(int p){
if (p<0){
#ifdef EDGE_WRAP
p=numpixels+p; //wrap edge
#endif
#ifdef EDGE_WALL
return _height[0]+p*-100.0; //edges as wall
#endif
}else if(p>=_numpixels){
#ifdef EDGE_WRAP
p=p-numpixels; //wrap edge
#endif
#ifdef EDGE_WALL
return _height[_numpixels-1]+(p-_numpixels)*100.0; //edges as wall
#endif
}
return _height[p];
}
void Wagon::updateGraphics()
{
float wagonfeathering=2;
for(int i=_pos+wagonfeathering;i>_pos-_trainlength-wagonfeathering;i--){
float featherbrightness=1;
if (i>_pos){ //in front of wagon
featherbrightness=1 - (i-_pos)/wagonfeathering;
}else if (i<_pos-_trainlength){ //behind of wagon
featherbrightness=1 - (_pos-_trainlength -i)/wagonfeathering;
}
if (featherbrightness<=0){ //distpercent between 0 and 1. 1-> full brightness, 0-> feathering distance away
featherbrightness=0;
}
//uint32_t c=_strip->Color(0,255*featherbrightness,0);
//uint32_t c=Wheel(_height[i]/45.0*255,featherbrightness);
//uint8_t b=_height[i]*255/45;
//uint8_t b=abs(_vel)*255.0;
//uint32_t c=_strip->Color(b*featherbrightness,(255-b)*featherbrightness,0);
float healtpositive=_health;
if(healtpositive<0){ //only positive values for color
healtpositive=0;
}
uint32_t c=_wagoncolor;
uint8_t _r = (uint8_t)(c >> 16)*healtpositive;
uint8_t _g = (uint8_t)(c >> 8)*healtpositive;
uint8_t _b = (uint8_t)c*healtpositive;
_r*=featherbrightness;
_g*=featherbrightness;
_b*=featherbrightness;
_r=GammaE[_r];
_g=GammaE[_g];
_b=GammaE[_b];
uint32_t _pxcolor=_strip->getPixelColor(i); //get current color of that pixel
uint8_t _pxr = _pxcolor >> 16;
uint8_t _pxg = _pxcolor >> 8;
uint8_t _pxb = _pxcolor;
uint16_t _tmpr=_pxr+_r; //add colors
uint16_t _tmpg=_pxg+_g;
uint16_t _tmpb=_pxb+_b;
if (_tmpr>255){ //clamp
_tmpr=255;
}
if (_tmpg>255){
_tmpg=255;
}
if (_tmpb>255){
_tmpb=255;
}
_strip->setPixelColor(i,_tmpr,_tmpg,_tmpb); //draw pixel
}
}
int Wagon::pos()
{
return _pos;
}
int Wagon::id()
{
return _id;
}
long Wagon::spawntime()
{
return _spawntime;
}
bool Wagon::alive()
{
/*if (_pos>_numpixels){
return false;
}*/
/*if (millis()>_spawntime+30*1000){ //too old
return false;
}*/
if (_lastpositivedirchangePosDifference<=5){ //reduce health
//return false;
_health-=0.1;
}
if (_health<=0) {
return false;
}
return true;
}
uint32_t Wagon::Wheel(byte WheelPos,float brightness) {
WheelPos = 255 - WheelPos;
if(WheelPos < 85) {
return _strip->Color(255 - WheelPos * 3*brightness, 0, WheelPos * 3*brightness);
}
if(WheelPos < 170) {
WheelPos -= 85;
return _strip->Color(0, WheelPos * 3*brightness, 255 - WheelPos * 3*brightness);
}
WheelPos -= 170;
return _strip->Color(WheelPos * 3*brightness, 255 - WheelPos * 3*brightness, 0);
}
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