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final fix

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This commit is contained in:
Stefan Bühler 2008-07-14 01:18:45 +02:00
parent b92a9a3034
commit 4409ebfd39
1 changed files with 8 additions and 3 deletions
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11
src/lookahead.c
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@ -126,24 +126,29 @@ int dgl(trial* t, vehicle* after, vehicle* before, timestamp h, timestamp deltat
k = t->map.k; k = t->map.k;
wsoll = turn2w(t,before->turn); wsoll = turn2w(t,before->turn);
aw = t->map.aw * ((before->w > wsoll) ? -1 : 1);
if (before->w == wsoll) aw = 0;
for(i = 0;i<=end;i++){ for(i = 0;i<=end;i++){
if(i == end) dt = deltat - end*dt; if(i == end) dt = deltat - end*dt;
aw = t->map.aw * ((before->w > wsoll) ? 1 : -1);
/*calculate derivative*/ /*calculate derivative*/
diff.x = cos(tmp.dir*M_PI/180)*tmp.speed/1000; diff.x = cos(tmp.dir*M_PI/180)*tmp.speed/1000;
diff.y = sin(tmp.dir*M_PI/180)*tmp.speed/1000; diff.y = sin(tmp.dir*M_PI/180)*tmp.speed/1000;
diff.speed = a - k*tmp.speed*tmp.speed; diff.speed = a - k*tmp.speed*tmp.speed;
// diff.speed = fmax(-tmp.speed/1000,a - k*tmp.speed*tmp.speed*1e-6); // diff.speed = fmax(-tmp.speed/1000,a - k*tmp.speed*tmp.speed*1e-6);
diff.w = (tmp.w == wsoll) ? 0 : aw; diff.w = aw;
diff.dir = tmp.w; diff.dir = tmp.w;
/*Euler Step*/ /*Euler Step*/
tmp.x += dt*diff.x; tmp.x += dt*diff.x;
tmp.y += dt*diff.y; tmp.y += dt*diff.y;
// tmp.speed += (tmp.speed > 0) ? 1000*dt*diff.speed : 0; // tmp.speed += (tmp.speed > 0) ? 1000*dt*diff.speed : 0;
tmp.speed = fmax(0, tmp.speed + dt*diff.speed/1000); tmp.speed = fmax(0, tmp.speed + dt*diff.speed/1000);
tmp.w += dt*diff.w; if (aw > 0) {
tmp.w = fmin(wsoll, tmp.w + dt*diff.w);
} else if (aw < 0) {
tmp.w = fmax(wsoll, tmp.w + dt*diff.w);
}
tmp.dir += dt*diff.dir; tmp.dir += dt*diff.dir;
/*check for collisions TODO: optimize*/ /*check for collisions TODO: optimize*/