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make quadratic dist work for DES. seems to work! but need to adjust ALL

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intervals...
This commit is contained in:
Dustin Carlino 2019-02-17 16:07:02 -08:00
parent e1259587cb
commit 46a8414f21
2 changed files with 37 additions and 31 deletions
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33
editor/src/plugins/sim/des_model/car.rs
View File

@ -288,7 +288,7 @@ impl Car {
self.intervals.split_off(idx1 + 1);
// Option 1: Might be too sharp.
if true {
if false {
{
let mut our_adjusted_last = self.intervals.pop().unwrap();
@ -326,8 +326,16 @@ impl Car {
let them = &leader.intervals[idx2];
let mut our_adjusted_last = self.intervals.pop().unwrap();
our_adjusted_last.end_speed = them.end_speed;
our_adjusted_last.end_time = them.end_time;
our_adjusted_last.end_dist = them.end_dist - dist_behind;
our_adjusted_last.end_time = them.end_time;
/*our_adjusted_last.end_time = find_end_time_for_interval(
our_adjusted_last.start_dist,
our_adjusted_last.end_dist,
our_adjusted_last.start_speed,
our_adjusted_last.end_speed,
our_adjusted_last.start_time,
);*/
println!("adjusted interval: {}", our_adjusted_last);
self.intervals.push(our_adjusted_last);
}
@ -344,3 +352,24 @@ impl Car {
}
}
}
fn find_end_time_for_interval(
initial_dist: Distance,
final_dist: Distance,
initial_speed: Speed,
final_speed: Speed,
initial_time: Duration,
) -> Duration {
let g = final_dist.inner_meters();
let d = initial_dist.inner_meters();
let v = initial_speed.inner_meters_per_second();
let f = final_speed.inner_meters_per_second();
let s = initial_time.inner_seconds();
let numer = -2.0 * d + s * (f + v) + 2.0 * g;
let denom = f + v;
let t = Duration::seconds(numer / denom);
assert!(t > initial_time);
t
}

35
editor/src/plugins/sim/des_model/interval.rs
View File

@ -57,17 +57,12 @@ impl Interval {
}
pub fn dist(&self, t: Duration) -> Distance {
if true {
// Linearly interpolate
self.start_dist + self.percent(t) * (self.end_dist - self.start_dist)
} else {
let relative_t = (t - self.start_time).inner_seconds();
let relative_t = (t - self.start_time).inner_seconds();
let d = self.start_dist.inner_meters()
+ self.start_speed.inner_meters_per_second() * relative_t
+ 0.5 * self.raw_accel() * relative_t.powi(2);
Distance::meters(d)
}
let d = self.start_dist.inner_meters()
+ self.start_speed.inner_meters_per_second() * relative_t
+ 0.5 * self.raw_accel() * relative_t.powi(2);
Distance::meters(d)
}
pub fn speed(&self, t: Duration) -> Speed {
@ -107,25 +102,7 @@ impl Interval {
}
// Set the two distance equations equal and solve for time. Long to type out here...
let t = if true {
let x1 = self.start_dist.inner_meters();
let x2 = self.end_dist.inner_meters();
let a1 = self.start_time.inner_seconds();
let a2 = self.end_time.inner_seconds();
let y1 = leader.start_dist.inner_meters();
let y2 = leader.end_dist.inner_meters();
let b1 = leader.start_time.inner_seconds();
let b2 = leader.end_time.inner_seconds();
let numer =
a1 * (b2 * (y1 - x2) + b1 * (x2 - y2)) + a2 * (b2 * (x1 - y1) + b1 * (y2 - x1));
let denom = (a1 - a2) * (y1 - y2) + b2 * (x1 - x2) + b1 * (x2 - x1);
if denom == 0.0 {
return None;
}
Duration::seconds(numer / denom)
} else {
let t = {
let x_1 = self.start_dist.inner_meters();
let v_1 = self.start_speed.inner_meters_per_second();
let t_1 = self.start_time.inner_seconds();