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let's do the spline thing

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This commit is contained in:
Cary Sandvig 2000-12-04 21:41:34 +00:00
parent 600c6f60c0
commit d9b3cf736c
1 changed files with 73 additions and 7 deletions
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80
panda/src/testbed/deadrec_rec.cxx
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@ -33,6 +33,9 @@ static RenderRelation* my_arc;
static LPoint3f my_pos; static LPoint3f my_pos;
static LPoint3f target_pos; static LPoint3f target_pos;
static LPoint3f telemetry_pos; static LPoint3f telemetry_pos;
static LVector3f my_vel;
static LVector3f target_vel;
static LVector3f telemetry_vel;
static int hostport = deadrec.GetInt("deadrec-rec-port", 0xdead); static int hostport = deadrec.GetInt("deadrec-rec-port", 0xdead);
static thread* monitor; static thread* monitor;
static bool stop_monitoring; static bool stop_monitoring;
@ -44,7 +47,7 @@ static float clock_skew = 0.;
static bool doing_sync = false; static bool doing_sync = false;
static float my_time, target_time, telemetry_time; static float my_time, target_time, telemetry_time;
static bool new_telemetry; static bool new_telemetry;
static bool reinit_correction; static bool reinit_correction, reinit_prediction;
enum TelemetryToken { T_End = 1, T_Pos, T_Vel, T_Num, T_Time, T_Sync }; enum TelemetryToken { T_End = 1, T_Pos, T_Vel, T_Num, T_Time, T_Sync };
enum PredictToken { P_Null, P_Linear }; enum PredictToken { P_Null, P_Linear };
@ -373,15 +376,32 @@ static void deadrec_setup(EventHandler& eh) {
pnullButton->inactive(); pnullButton->inactive();
curr_corr = C_Pop; curr_corr = C_Pop;
cpopButton->inactive(); cpopButton->inactive();
reinit_correction = true;
reinit_prediction = true;
} }
inline static void predict_null(void) { inline static void predict_null(void) {
static bool have_vel = false;
if (reinit_prediction) {
have_vel = false;
target_vel = LVector3f(0., 0., 0.);
reinit_prediction = false;
}
if (have_vel) {
if (new_telemetry)
target_vel = target_pos - telemetry_pos;
} else {
if (new_telemetry)
have_vel = true;
}
target_pos = telemetry_pos; target_pos = telemetry_pos;
} }
inline static void predict_linear(void) { inline static void predict_linear(void) {
// DO THIS // DO THIS
target_pos = telemetry_pos; target_pos = telemetry_pos;
reinit_prediction = false;
} }
inline static void run_predict(void) { inline static void run_predict(void) {
@ -404,20 +424,19 @@ inline static void correction_pop(void) {
} }
inline static void correction_lerp(void) { inline static void correction_lerp(void) {
// DO THIS
static LPoint3f prev_pos, save_pos; static LPoint3f prev_pos, save_pos;
static bool have_both = false; static bool have_both = false;
static float time; static float time;
if (reinit_correction) { if (reinit_correction) {
if (new_telemetry) { if (save_pos != target_pos) {
prev_pos = save_pos = target_pos; prev_pos = save_pos = target_pos;
reinit_correction = false; reinit_correction = false;
have_both = false; have_both = false;
} }
} else { } else {
if (have_both) { if (have_both) {
if (new_telemetry) { if (save_pos != target_pos) {
time = 0.; time = 0.;
prev_pos = my_pos; prev_pos = my_pos;
save_pos = target_pos; save_pos = target_pos;
@ -431,7 +450,7 @@ inline static void correction_lerp(void) {
} }
} }
} else { } else {
if (new_telemetry) { if (save_pos != target_pos) {
save_pos = target_pos; save_pos = target_pos;
my_pos = prev_pos; my_pos = prev_pos;
time = 0.; time = 0.;
@ -442,8 +461,55 @@ inline static void correction_lerp(void) {
} }
inline static void correction_spline(void) { inline static void correction_spline(void) {
// DO THIS static LPoint3f A, B, C, D;
my_pos = target_pos; static bool have_both = false;
static LPoint3f prev_pos, save_pos;
static LVector3f prev_vel, save_vel;
static float time;
if (reinit_correction) {
if (save_pos != target_pos) {
prev_pos = save_pos = target_pos;
prev_vel = save_vel = target_vel;
reinit_correction = false;
have_both = false;
}
} else {
if (have_both) {
if (save_pos != target_pos) {
time = 0.;
prev_pos = my_pos;
prev_vel = my_vel;
save_pos = target_pos;
save_vel = target_vel;
A = (2. * (prev_pos - save_pos)) + prev_vel + save_vel;
B = (3. * (save_pos - prev_pos)) - (2. * prev_vel) - save_vel;
C = prev_vel;
D = prev_pos;
} else {
if (time < 0.5) {
// half second lerp
float tmp = time * 2.;
my_pos = (tmp * tmp * tmp * A) + (tmp * tmp * B) + (tmp * C) + D;
my_vel = (3. * tmp * tmp * A) + (2. * tmp * B) + C;
time += ClockObject::get_global_clock()->get_dt();
}
}
} else {
if (save_pos != target_pos) {
save_pos = target_pos;
save_vel = target_vel;
my_pos = prev_pos;
my_vel = prev_vel;
time = 0.;
A = (2. * (prev_pos - save_pos)) + prev_vel + save_vel;
B = (3. * (save_pos - prev_pos)) - (2. * prev_vel) - save_vel;
C = prev_vel;
D = prev_pos;
have_both = true;
}
}
}
} }
inline static void run_correct(void) { inline static void run_correct(void) {