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comparison Renderer/Test/spe/ChainCal.cc @ 965:1089f24bc86a

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removing user task from Renderer Engine
author Shinji KONO <kono@ie.u-ryukyu.ac.jp>
date Fri, 06 Aug 2010 19:59:23 +0900
parents Renderer/Engine/spe/ChainCal.cc@2575791a333a
children
comparison
equal deleted inserted replaced
964:cf64bc1b8062 965:1089f24bc86a
1 #include <stdio.h>
2 #include <string.h>
3 #include <math.h>
4 #include "ChainCal.h"
5 #include "Func.h"
6 #include "types.h"
7
8 /* これは必須 */
9 SchedDefineTask(ChainCal);
10
11 #define CHAIN_LEN 50
12
13 static const double m = 100.0;
14 static const double k = 7000.0;
15 static const double g = 9.8;
16 static const double dt = 0.003;
17 static const double chain_width = 10;
18 static const double safe = 0.995;
19
20 typedef struct {
21 double x, y, next_x, next_y;
22 double vx, vy, next_vx, next_vy;
23 double angle[3];
24 int can_move;
25 uint32 parent;
26 int id;
27 //int parent;
28 } ChainProperty, *ChainPropertyPtr;
29
30 static int
31 run(SchedTask *s,void *rbuf, void *wbuf)
32 {
33 ChainPropertyPtr property = (ChainPropertyPtr)s->get_input(rbuf, 0);
34 ChainPropertyPtr update_property = (ChainPropertyPtr)s->get_output(wbuf, 0);
35
36 // ChainPropertyPtr property = (ChainPropertyPtr)rbuf;
37 // int id = get_param(0);
38
39 //ChainPropertyPtr o_property = (ChainPropertyPtr)wbuf;
40
41 for(int cnt = 0; cnt < 600; cnt++) {
42 for(int i = 0; i < CHAIN_LEN; i++) {
43 if(property[i].can_move) {
44 double dx = property[i-1].x - property[i].x;
45 double dy = property[i-1].y - property[i].y;
46 double l = sqrt(dx * dx + dy * dy);
47 double a = k * (l - chain_width) / m;
48 double ax = a * dx / l;
49 double ay = a * dy / l;
50 if(i < CHAIN_LEN - 1) {
51 dx = property[i+1].x - property[i].x;
52 dy = property[i+1].y - property[i].y;
53 l = sqrt(dx * dx + dy * dy);
54 a = k * (l - chain_width) / m;
55 ax += a * dx / l;
56 ay += a * dy / l;
57 }
58 ay += g;
59 property[i].vx *= safe;
60 property[i].vy *= safe;
61 property[i].next_vx = property[i].vx + ax * dt;
62 property[i].next_vy = property[i].vy + ay * dt;
63 property[i].next_x = property[i].x + property[i].vx * dt;
64 property[i].next_y = property[i].y + property[i].vy * dt;
65 } else {
66 property[i].next_x = property[i].x;
67 property[i].next_y = property[i].y;
68 }
69 }
70 for(int i = 0; i < CHAIN_LEN; i++) {
71 property[i].vx = property[i].next_vx;
72 property[i].vy = property[i].next_vy;
73 property[i].x = property[i].next_x;
74 property[i].y = property[i].next_y;
75 }
76 }
77
78 for (int j = 0; j < CHAIN_LEN; j++) {
79 int p, n;
80 int id = property[j].id;
81 p = n = id;
82 if(p != 0) {
83 p--;
84 }
85 if(n != CHAIN_LEN - 1) {
86 n++;
87 }
88 property[j].angle[2-(id%2)*2]
89 = 90 + atan((property[p].next_y - property[n].next_y) / (property[p].next_x - property[n].next_x)) * 180 / M_PI;
90 }
91
92 memcpy((void*)update_property, (void*)property, sizeof(ChainProperty) * CHAIN_LEN);
93 return 0;
94 }