Rev 1085 | Details | Compare with Previous | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1085 | pj | 1 | /*--------------------------------------------------------------*/ |
| 2 | /* SIMULATION OF JUMPING BALLS */ |
||
| 3 | /*--------------------------------------------------------------*/ |
||
| 4 | |||
| 5 | /* CVS $Id: ball2.c,v 1.1.1.1 2002-09-02 09:37:41 pj Exp $ */ |
||
| 6 | |||
| 7 | |||
| 8 | #include "demo.h" |
||
| 9 | #include <kernel/func.h> |
||
| 10 | #include <stdlib.h> |
||
| 11 | //#include <drivers/glib.h> |
||
| 12 | //#include <drivers/keyb.h> |
||
| 13 | //#include <math.h> |
||
| 14 | |||
| 15 | #define R 2 /* dimension of a ball */ |
||
| 16 | #define G 9.8 /* acceleration of gravity */ |
||
| 17 | #define BASE 30 /* position of the floor */ |
||
| 18 | #define TOP 80 /* initial height of the ball */ |
||
| 19 | #define XMIN 3 /* min position X of the ball */ |
||
| 20 | #define XMAX 380 /* max position X of the ball */ |
||
| 21 | #define VELX 5. /* horizontal ball velocity */ |
||
| 22 | #define VMIN 11. /* velocit… minima per suono */ |
||
| 23 | #define ESC 27 /* ASCII code of ESCAPE key */ |
||
| 24 | #define MAX_P 50 /* max number of balls */ |
||
| 25 | |||
| 26 | double v0[MAX_P]; /* impact velocity with floor */ |
||
| 27 | |||
| 28 | /*--------------------------------------------------------------*/ |
||
| 29 | /* Periodic task for ball simulation */ |
||
| 30 | /*--------------------------------------------------------------*/ |
||
| 31 | |||
| 32 | TASK palla(int i) |
||
| 33 | { |
||
| 34 | int x, y; /* coordinate grafiche pallina */ |
||
| 35 | int ox, oy; /* vecchia posizione pallina */ |
||
| 36 | int x0; /* posizione iniziale X pallina */ |
||
| 37 | float vx, vy; /* velocit… della pallina */ |
||
| 38 | float t, tx; /* variabile temporale */ |
||
| 39 | float dt; /* incremento temporale */ |
||
| 40 | double arg; /* variabile di appoggio */ |
||
| 41 | |||
| 42 | y = oy = TOP; |
||
| 43 | x = ox = x0 = XMIN; |
||
| 44 | |||
| 45 | arg = 2. * G * (float)TOP; |
||
| 46 | vy = sqrt(arg); |
||
| 47 | vx = VELX;// + rand()%10; |
||
| 48 | tx = 0.0; |
||
| 49 | t = vy / G; |
||
| 50 | dt = 0.1; |
||
| 51 | |||
| 52 | while (1) { |
||
| 53 | y = TOP + vy*t - .5*G*t*t; |
||
| 54 | x = x0 + vx * tx; |
||
| 55 | |||
| 56 | if (y < BASE) { |
||
| 57 | t = 0.0; |
||
| 58 | v0[i] = .9 * v0[i]; |
||
| 59 | // if (v0[i]<VMIN) { |
||
| 60 | |||
| 61 | // v0[i] = sqrt(2. * G * (float)TOP); |
||
| 62 | // v0[i] = sqrt(arg);// * (1-((float)(rand()%20))/100); |
||
| 63 | //vx = vx + rand()%5 - 2; |
||
| 64 | //tx = 0.0; |
||
| 65 | //x0 = x; |
||
| 66 | // } |
||
| 67 | |||
| 68 | vy = v0[i]; |
||
| 69 | y = TOP + vy*t - .5*G*t*t; |
||
| 70 | } |
||
| 71 | |||
| 72 | |||
| 73 | if (x > XMAX) { |
||
| 74 | tx = 0.0; |
||
| 75 | x0 = XMAX; |
||
| 76 | vx = -vx; |
||
| 77 | x = x0 + vx * tx; |
||
| 78 | } |
||
| 79 | |||
| 80 | if (x < XMIN) { |
||
| 81 | tx = 0.0; |
||
| 82 | x0 = XMIN; |
||
| 83 | vx = -vx; |
||
| 84 | x = x0 + vx * tx; |
||
| 85 | } |
||
| 86 | y = 480-y; |
||
| 87 | |||
| 88 | mutex_lock(&mutex); |
||
| 89 | grx_disc(ox, oy, R, 0); |
||
| 90 | grx_disc(x, y, R, i); |
||
| 91 | mutex_unlock(&mutex); |
||
| 92 | |||
| 93 | oy = y; ox = x; |
||
| 94 | t += dt; |
||
| 95 | tx += dt; |
||
| 96 | task_endcycle(); |
||
| 97 | } |
||
| 98 | } |
||
| 99 | |||
| 100 | |||
| 101 | void ballfun(KEY_EVT *k) |
||
| 102 | { |
||
| 103 | static int npc = 0; /* number of tasks created */ |
||
| 104 | SOFT_TASK_MODEL mp; |
||
| 105 | int r,g,b; |
||
| 106 | PID pid; |
||
| 107 | |||
| 108 | if (npc == MAX_P) return; |
||
| 109 | |||
| 110 | r = 64 + rand()%192; |
||
| 111 | g = 64 + rand()%192; |
||
| 112 | b = 64 + rand()%192; |
||
| 113 | |||
| 114 | soft_task_default_model(mp); |
||
| 115 | soft_task_def_level(mp,1); |
||
| 116 | soft_task_def_ctrl_jet(mp); |
||
| 117 | soft_task_def_arg(mp, rgb16(r,g,b)); |
||
| 118 | soft_task_def_group(mp, 1); |
||
| 119 | soft_task_def_met(mp, WCET_BALL); |
||
| 120 | soft_task_def_period(mp,PERIOD_BALL); |
||
| 121 | soft_task_def_usemath(mp); |
||
| 122 | pid = task_create("palla", palla, &mp, NULL); |
||
| 123 | if (pid != NIL) { |
||
| 124 | task_activate(pid); |
||
| 125 | npc++; |
||
| 126 | } |
||
| 127 | } |
||
| 128 | |||
| 129 | |||
| 130 | /*--------------------------------------------------------------*/ |
||
| 131 | /* MAIN process */ |
||
| 132 | /*--------------------------------------------------------------*/ |
||
| 133 | |||
| 134 | |||
| 135 | void init_ball(void) |
||
| 136 | { |
||
| 137 | char c; /* character from keyboard */ |
||
| 138 | int i; /* pressed number */ |
||
| 139 | double arg; /* temporary variable */ |
||
| 140 | KEY_EVT k; |
||
| 141 | |||
| 142 | arg = 2. * G * (float)TOP; |
||
| 143 | for (i=0; i<MAX_P; i++) v0[i] = sqrt(arg); |
||
| 144 | |||
| 145 | mutex_lock(&mutex); |
||
| 146 | grx_rect(XMIN-R-1, 480-TOP-BASE-R-1, XMAX+R+1, 480-BASE+R+1, 14); |
||
| 147 | mutex_unlock(&mutex); |
||
| 148 | |||
| 149 | k.flag = 0; |
||
| 150 | k.scan = KEY_SPC; |
||
| 151 | k.ascii = ' '; |
||
| 152 | keyb_hook(k,ballfun); |
||
| 153 | |||
| 154 | } |
||
| 155 | |||
| 156 | /*--------------------------------------------------------------*/ |