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Added a general polygon to the initial state

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Karma Riuk 2023-05-06 14:06:45 +02:00
parent c0d4343b77
commit 2cfa921547
1 changed files with 69 additions and 32 deletions
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101
polygons.cc
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@ -10,7 +10,7 @@
#include <utility> #include <utility>
polygon* polygons = nullptr; polygon* polygons = nullptr;
uint n_polygons = 6; uint n_polygons = 7;
void polygons_init_state() { void polygons_init_state() {
polygons = new polygon[n_polygons]; polygons = new polygon[n_polygons];
@ -33,27 +33,64 @@ void polygons_init_state() {
// .set_angle(13) // .set_angle(13)
// .set_angular_speed(10) // .set_angular_speed(10)
// .set_speed({200, 50}); // .set_speed({200, 50});
polygons[4] = poly_generate::rectangle(50, height / 2., INFINITY) // polygons[4] = poly_generate::rectangle(50, height / 2., INFINITY)
.set_center({25 + width * 1. / 2, height / 2.}) // .set_center({25 + width * 1. / 2, height / 2.})
.set_angle(0); // .set_angle(0);
polygons[5] = poly_generate::square(100, 1) polygons[4] = poly_generate::rectangle(100, 200, 3)
.set_center({200, 180}) .set_center({200, 180})
.set_angle(-60) .set_angle(45)
.set_speed({200, -10}); .set_speed({200, -10});
// .set_angle(45) // .set_angle(45)
// .set_center({600, 650}) // .set_center({300, 650})
// .set_speed({-200, -10}); // .set_angular_speed(181)
// .set_speed({200, -10});
// .set_center({200, 160}) // .set_center({200, 160})
// .set_angle(-45) // .set_angle(-45)
// .set_speed({200, 10}); // .set_speed({200, 10});
// polygons[5] = poly_generate::regular(100, 8) polygons[5] = poly_generate::regular(100, 5)
// .set_angle(0) .set_angle(0)
// .set_center({600, 650}) .set_center({600, 650})
// .set_speed({-200, 200}); .set_speed({-200, 200});
// .set_angle(0)
// .set_center({600, 650})
// .set_speed({-200, -10});
polygons[6] = poly_generate::general(
{{0, 0}, {100, 0}, {100, 100}, {50, 150}, {0, 100}}, 3)
.set_center({400, 400});
#define PROBLEMATIC_COUPLES 0
#if PROBLEMATIC_COUPLES == 1
// After about 20 secs (when they are both in the center at the bottom)
// the square hits the octogon with a high angular speed and they get stuck,
// why?
polygons[4] = poly_generate::square(100, 1)
.set_center({300, 180})
.set_angle(-60)
.set_speed({200, -10});
polygons[5] = poly_generate::regular(100, 8)
.set_center({600, 650})
.set_speed({-200, 200});
#endif
#if PROBLEMATIC_COUPLES == 2
// After a couple of frames, I think we have the case were we have vertex
// colliding with vertex (and not the vertex vs edge we usually have)
polygons[4] = poly_generate::square(100, 1)
.set_angle(45)
.set_center({300, 650})
.set_angular_speed(181)
.set_speed({200, -10});
polygons[5] = poly_generate::regular(100, 8)
.set_center({600, 650})
.set_speed({-200, -10});
#endif
} }
static double to_rad(double angle_in_deg) { static double to_rad(double angle_in_deg) {
@ -119,42 +156,42 @@ static void handle_collision(collision& c, polygon* a, polygon* b) {
vec2d r_ap = c.impact_point - a->centroid(); vec2d r_ap = c.impact_point - a->centroid();
vec2d v_ap1 = a->speed + vec2d::cross(omega_a1, r_ap); vec2d v_ap1 = a->speed + vec2d::cross(omega_a1, r_ap);
std::cout << " p = " << c.impact_point << std::endl; // std::cout << " p = " << c.impact_point << std::endl;
std::cout << " r_ap = " << r_ap << std::endl; // std::cout << " r_ap = " << r_ap << std::endl;
std::cout << " v_ap1 = " << v_ap1 << std::endl; // std::cout << " v_ap1 = " << v_ap1 << std::endl;
vec2d r_bp = c.impact_point - b->centroid(); vec2d r_bp = c.impact_point - b->centroid();
vec2d v_bp1 = b->speed + vec2d::cross(omega_b1, r_bp); vec2d v_bp1 = b->speed + vec2d::cross(omega_b1, r_bp);
std::cout << " r_bp = " << r_bp << std::endl; // std::cout << " r_bp = " << r_bp << std::endl;
std::cout << " v_bp1 = " << v_bp1 << std::endl; // std::cout << " v_bp1 = " << v_bp1 << std::endl;
vec2d v_ab1 = v_ap1 - v_bp1; vec2d v_ab1 = v_ap1 - v_bp1;
std::cout << " v_ab1 = " << v_ab1 << std::endl; // std::cout << " v_ab1 = " << v_ab1 << std::endl;
double I_a = a->inertia, I_b = b->inertia; double I_a = a->inertia, I_b = b->inertia;
std::cout << " Parameters for j: " << std::endl; // std::cout << " Parameters for j: " << std::endl;
std::cout << " v_ab1 = " << v_ab1 << std::endl; // std::cout << " v_ab1 = " << v_ab1 << std::endl;
std::cout << " n = " << c.n << std::endl; // std::cout << " n = " << c.n << std::endl;
std::cout << " m_a = " << a->mass << std::endl; // std::cout << " m_a = " << a->mass << std::endl;
std::cout << " m_b = " << b->mass << std::endl; // std::cout << " m_b = " << b->mass << std::endl;
std::cout << " r_ap = " << r_ap << std::endl; // std::cout << " r_ap = " << r_ap << std::endl;
std::cout << " r_bp = " << r_bp << std::endl; // std::cout << " r_bp = " << r_bp << std::endl;
std::cout << " I_a = " << I_a << std::endl; // std::cout << " I_a = " << I_a << std::endl;
std::cout << " I_b = " << I_b << std::endl; // std::cout << " I_b = " << I_b << std::endl;
double j = impulse_parameter( double j = impulse_parameter(
v_ab1, c.n, a->mass, b->mass, r_ap, r_bp, I_a, I_b, 1); v_ab1, c.n, a->mass, b->mass, r_ap, r_bp, I_a, I_b, 1);
std::cout << "====> j = " << j << std::endl; // std::cout << "====> j = " << j << std::endl;
vec2d v_a2 = a->speed + j * c.n / a->mass; vec2d v_a2 = a->speed + j * c.n / a->mass;
vec2d v_b2 = b->speed - j * c.n / b->mass; vec2d v_b2 = b->speed - j * c.n / b->mass;
std::cout << " v_a2 = " << v_a2 << std::endl; // std::cout << " v_a2 = " << v_a2 << std::endl;
std::cout << " v_b2 = " << v_b2 << std::endl; // std::cout << " v_b2 = " << v_b2 << std::endl;
double omega_a2 = omega_a1 + vec2d::cross(r_ap, j * c.n) / I_a; double omega_a2 = omega_a1 + vec2d::cross(r_ap, j * c.n) / I_a;
double omega_b2 = omega_b1 - vec2d::cross(r_bp, j * c.n) / I_b; double omega_b2 = omega_b1 - vec2d::cross(r_bp, j * c.n) / I_b;
std::cout << " omega_a2 = " << omega_a2 << std::endl; // std::cout << " omega_a2 = " << omega_a2 << std::endl;
std::cout << " omega_b2 = " << omega_b2 << std::endl; // std::cout << " omega_b2 = " << omega_b2 << std::endl;
a->speed = v_a2; a->speed = v_a2;
a->angular_speed = to_deg(omega_a2); a->angular_speed = to_deg(omega_a2);