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linear predictor. I hope

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This commit is contained in:
Cary Sandvig 2000-12-05 22:57:37 +00:00
parent cf75acb3e1
commit 913ae94c66
1 changed files with 62 additions and 14 deletions
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76
panda/src/testbed/deadrec_rec.cxx
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@ -194,6 +194,7 @@ static void predict_event_up(CPT_Event e) {
deadrec_cat->error() << "switching predictor to invalid type ("
<< (int)curr_pred << ")" << endl;
}
reinit_prediction = true;
}
static void predict_event(CPT_Event e) {
@ -399,22 +400,69 @@ inline static void predict_null(void) {
}
inline static void predict_linear(void) {
static bool have_vel = false;
static int state = 0;
static LPoint3f A, B;
static LVector3f V;
static float A_time, B_time;
static float time = 0.;
// DO THIS
if (reinit_prediction) {
have_vel = false;
target_vel = LVector3f(0., 0., 0.);
reinit_prediction = false;
if (reinit_prediction)
state = 0;
switch (state) {
case 0:
if (new_telemetry) {
A = telemetry_pos;
A_time = telemetry_time;
V = LVector3f(0., 0., 0.);
state = 1;
}
break;
case 1:
if (new_telemetry) {
B = telemetry_pos;
B_time = telemetry_time;
V = B - A;
V *= 1. / (B_time - A_time);
time = 0.5;
state = 2;
}
target_pos = A;
target_vel = V;
break;
case 2:
if (new_telemetry) {
if (telemetry_time < A_time) {
// before our two samples, ignore it
} else if (telemetry_time > B_time) {
// a sample in brave new territory
A = B;
A_time = B_time;
B = telemetry_pos;
B_time = telemetry_time;
V = B - A;
V *= 1. / (B_time - A_time);
time = 0.;
} else {
// is between our two samples
A = telemetry_pos;
A_time = telemetry_time;
V = B - A;
V *= 1. / (B_time - A_time);
time = 0.;
}
}
if (time <= 0.) {
float rtime = ClockObject::get_global_clock()->get_time() - A_time;
target_pos = (rtime * V) + A;
target_vel = V;
time = 0.5;
}
time -= ClockObject::get_global_clock()->get_dt();
break;
default:
deadrec_cat->error() << "got in invalid state in linear predictor ("
<< state << ")" << endl;
}
if (have_vel) {
if (new_telemetry)
target_vel = target_pos - telemetry_pos;
} else {
if (new_telemetry)
have_vel = true;
}
target_pos = telemetry_pos;
}
inline static void run_predict(void) {