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handling some weird cases, making test pass everywhere

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This commit is contained in:
Dustin Carlino 2019-02-17 18:47:37 -08:00
parent b8fc610997
commit b45766e09a
2 changed files with 35 additions and 12 deletions
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36
editor/src/plugins/sim/des_model/car.rs
View File

@ -258,26 +258,40 @@ impl Car {
let dist_behind = leader.car_length + FOLLOWING_DISTANCE;
{
println!("leader intervals:");
leader.dump_intervals();
println!();
let them = &leader.intervals[idx2];
let mut fix1 = self.intervals.pop().unwrap();
fix1.end_speed = them.speed(hit_time);
// TODO Why's this happening exactly?
if hit_dist == them.end_dist - dist_behind {
fix1.end_speed = them.end_speed;
} else {
fix1.end_speed = them.speed(hit_time);
}
fix1.end_dist = hit_dist;
fix1.fix_end_time();
println!("adjusted interval 1: {}", fix1);
self.intervals.push(fix1.clone());
let mut fix2 = leader.intervals[idx2].clone();
let mut fix2 = them.clone();
fix2.start_speed = fix1.end_speed;
fix2.start_dist = fix1.end_dist;
fix2.start_time = fix1.end_time;
fix2.end_dist -= dist_behind;
fix2.fix_end_time();
println!("adjusted interval 1: {}", fix1);
println!("adjusted interval 2: {}\n", fix2);
self.intervals.push(fix1);
self.intervals.push(fix2);
// Don't touch end_time otherwise.
if !fix2.is_wait() {
fix2.fix_end_time();
}
if fix2.end_time > fix2.start_time {
println!("adjusted interval 2: {}\n", fix2);
self.intervals.push(fix2);
}
}
// TODO What if we can't manage the same accel/deaccel/speeds?
// TODO What if we can't manage the same accel/deaccel/speeds? Need to change the previous
// interval to meet the constraint earlier...
for i in &leader.intervals[idx2 + 1..] {
let mut interval = Interval {
start_dist: i.start_dist - dist_behind,
@ -287,7 +301,9 @@ impl Car {
start_speed: i.start_speed,
end_speed: i.end_speed,
};
interval.fix_end_time();
if !interval.is_wait() {
interval.fix_end_time();
}
self.intervals.push(interval);
}
}

11
editor/src/plugins/sim/des_model/interval.rs
View File

@ -112,10 +112,17 @@ impl Interval {
Some((t, dist1.min(leader.end_dist)))
}
pub fn fix_end_time(&mut self) {
pub fn is_wait(&self) -> bool {
if self.start_speed == Speed::ZERO && self.end_speed == Speed::ZERO {
return;
assert!(self.start_dist.epsilon_eq(self.end_dist));
true
} else {
false
}
}
pub fn fix_end_time(&mut self) {
assert!(!self.is_wait());
let g = self.end_dist.inner_meters();
let d = self.start_dist.inner_meters();