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Updated WalkView: Added a circular surface constraint.

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This commit is contained in:
Anders Gidenstam 2010-11-01 21:12:39 +01:00
parent a36716725f
commit 4c694b2bc2
1 changed files with 32 additions and 6 deletions
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38
Aircraft/Generic/WalkView/walkview.nas
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@ -83,7 +83,8 @@ var active_walker = func {
# speed ... speed in m/sec : double
#
# set_pos(pos)
# get_pos() : position
# pos ... position in meter : [double, double, double]
# get_pos() : position ([meter, meter, meter])
#
# set_eye_height(h)
# get_eye_height() : int (meter)
@ -263,8 +264,8 @@ var makeUnionConstraint = func (cs) {
# Rectangular plane defined by a straight line and a width.
# The line is extruded horizontally on each side by width/2 into a
# planar surface.
# p1, p2 - the line endpoints.
# width - total width of the plane.
# p1, p2 - the line endpoints. : position ([meter, meter, meter])
# width - total width of the plane. : length (meter)
var linePlane = {
new : func (p1, p2, width) {
var obj = { parents : [linePlane] };
@ -283,7 +284,7 @@ var linePlane = {
var pXY = vec2.sub(pos, me.p1);
var along = vec2.dot(pXY, me.e1);
var across = vec2.dot(pXY, me.e2);
var along2 = max(0, min(along, me.length));
var across2 = max(-me.halfwidth, min(across, me.halfwidth));
if (along2 != along or across2 != across) {
@ -299,10 +300,35 @@ var linePlane = {
}
};
# Circular surface aligned with the XY plane
# center - the center point : position ([meter, meter, meter])
# radius - radius in the XY plane : length (meter)
var CircularXYSurface = {
new : func (center, radius) {
var obj = { parents : [CircularXYSurface] };
obj.center = center;
obj.radius = radius;
return obj;
},
constrain : func (pos) {
var p = [pos[0], pos[1], me.center[2]];
var pXY = vec2.sub(pos, me.center);
var lXY = vec2.length(pXY);
if (lXY > me.radius) {
var t = vec2.add(me.center, vec2.mul(me.radius/lXY, pXY));
p[0] = t[0];
p[1] = t[1];
}
return p;
},
};
# Mostly aligned plane sloping along the X axis.
# NOTE: Obsolete. Use linePlane instead.
# minp - the X,Y minimum point : position (meter)
# maxp - the X,Y maximum point : position (meter)
# minp - the X,Y minimum point : position ([meter, meter, meter])
# maxp - the X,Y maximum point : position ([meter, meter, meter])
var slopingYAlignedPlane = {
new : func (minp, maxp) {
return linePlane.new([minp[0], (minp[1] + maxp[1])/2, minp[2]],