Rev 1655 | Details | Compare with Previous | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1655 | giacomo | 1 | /*--------------------------------------------------------------*/ |
| 2 | /* SIMULATION OF JUMPING BALLS */ |
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| 3 | /*--------------------------------------------------------------*/ |
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| 4 | |||
| 5 | /* CVS $Id: ball2.c,v 1.1.1.1 2004-05-24 18:03:47 giacomo Exp $ */ |
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| 6 | |||
| 7 | |||
| 8 | #include "demo.h" |
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| 9 | #include <kernel/func.h> |
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| 10 | #include <stdlib.h> |
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| 11 | //#include <drivers/glib.h> |
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| 12 | //#include <drivers/keyb.h> |
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| 13 | //#include <math.h> |
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| 14 | |||
| 15 | #define R 2 /* dimension of a ball */ |
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| 16 | #define G 9.8 /* acceleration of gravity */ |
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| 17 | #define BASE 30 /* position of the floor */ |
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| 18 | #define TOP 80 /* initial height of the ball */ |
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| 19 | #define XMIN 3 /* min position X of the ball */ |
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| 20 | #define XMAX 380 /* max position X of the ball */ |
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| 21 | #define VELX 5. /* horizontal ball velocity */ |
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| 22 | #define VMIN 11. /* velocit… minima per suono */ |
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| 23 | #define ESC 27 /* ASCII code of ESCAPE key */ |
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| 24 | #define MAX_P 50 /* max number of balls */ |
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| 25 | |||
| 26 | double v0[MAX_P]; /* impact velocity with floor */ |
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| 27 | |||
| 28 | /*--------------------------------------------------------------*/ |
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| 29 | /* Periodic task for ball simulation */ |
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| 30 | /*--------------------------------------------------------------*/ |
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| 31 | |||
| 32 | TASK palla(int i) |
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| 33 | { |
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| 34 | int x, y; /* coordinate grafiche pallina */ |
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| 35 | int ox, oy; /* vecchia posizione pallina */ |
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| 36 | int x0; /* posizione iniziale X pallina */ |
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| 37 | float vx, vy; /* velocit… della pallina */ |
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| 38 | float t, tx; /* variabile temporale */ |
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| 39 | float dt; /* incremento temporale */ |
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| 40 | double arg; /* variabile di appoggio */ |
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| 41 | |||
| 42 | y = oy = TOP; |
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| 43 | x = ox = x0 = XMIN; |
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| 44 | |||
| 45 | arg = 2. * G * (float)TOP; |
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| 46 | vy = sqrt(arg); |
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| 47 | vx = VELX;// + rand()%10; |
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| 48 | tx = 0.0; |
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| 49 | t = vy / G; |
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| 50 | dt = 0.1; |
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| 51 | |||
| 52 | while (1) { |
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| 53 | y = TOP + vy*t - .5*G*t*t; |
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| 54 | x = x0 + vx * tx; |
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| 55 | |||
| 56 | if (y < BASE) { |
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| 57 | t = 0.0; |
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| 58 | v0[i] = .9 * v0[i]; |
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| 59 | // if (v0[i]<VMIN) { |
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| 60 | |||
| 61 | // v0[i] = sqrt(2. * G * (float)TOP); |
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| 62 | // v0[i] = sqrt(arg);// * (1-((float)(rand()%20))/100); |
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| 63 | //vx = vx + rand()%5 - 2; |
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| 64 | //tx = 0.0; |
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| 65 | //x0 = x; |
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| 66 | // } |
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| 67 | |||
| 68 | vy = v0[i]; |
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| 69 | y = TOP + vy*t - .5*G*t*t; |
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| 70 | } |
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| 71 | |||
| 72 | |||
| 73 | if (x > XMAX) { |
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| 74 | tx = 0.0; |
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| 75 | x0 = XMAX; |
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| 76 | vx = -vx; |
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| 77 | x = x0 + vx * tx; |
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| 78 | } |
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| 79 | |||
| 80 | if (x < XMIN) { |
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| 81 | tx = 0.0; |
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| 82 | x0 = XMIN; |
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| 83 | vx = -vx; |
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| 84 | x = x0 + vx * tx; |
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| 85 | } |
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| 86 | y = 480-y; |
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| 87 | |||
| 88 | mutex_lock(&mutex); |
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| 89 | grx_disc(ox, oy, R, 0); |
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| 90 | grx_disc(x, y, R, i); |
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| 91 | mutex_unlock(&mutex); |
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| 92 | |||
| 93 | oy = y; ox = x; |
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| 94 | t += dt; |
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| 95 | tx += dt; |
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| 96 | task_endcycle(); |
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| 97 | } |
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| 98 | } |
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| 99 | |||
| 100 | |||
| 101 | void ballfun(KEY_EVT *k) |
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| 102 | { |
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| 103 | static int npc = 0; /* number of tasks created */ |
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| 104 | SOFT_TASK_MODEL mp; |
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| 105 | int r,g,b; |
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| 106 | PID pid; |
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| 107 | |||
| 108 | if (npc == MAX_P) return; |
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| 109 | |||
| 110 | r = 64 + rand()%192; |
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| 111 | g = 64 + rand()%192; |
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| 112 | b = 64 + rand()%192; |
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| 113 | |||
| 114 | soft_task_default_model(mp); |
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| 115 | soft_task_def_level(mp,1); |
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| 116 | soft_task_def_ctrl_jet(mp); |
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| 117 | soft_task_def_arg(mp, rgb16(r,g,b)); |
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| 118 | soft_task_def_group(mp, 1); |
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| 119 | soft_task_def_met(mp, WCET_BALL); |
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| 120 | soft_task_def_period(mp,PERIOD_BALL); |
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| 121 | soft_task_def_usemath(mp); |
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| 122 | pid = task_create("palla", palla, &mp, NULL); |
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| 123 | if (pid != NIL) { |
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| 124 | task_activate(pid); |
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| 125 | npc++; |
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| 126 | } |
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| 127 | } |
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| 128 | |||
| 129 | |||
| 130 | /*--------------------------------------------------------------*/ |
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| 131 | /* MAIN process */ |
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| 132 | /*--------------------------------------------------------------*/ |
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| 133 | |||
| 134 | |||
| 135 | void init_ball(void) |
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| 136 | { |
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| 137 | char c; /* character from keyboard */ |
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| 138 | int i; /* pressed number */ |
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| 139 | double arg; /* temporary variable */ |
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| 140 | KEY_EVT k; |
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| 141 | |||
| 142 | arg = 2. * G * (float)TOP; |
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| 143 | for (i=0; i<MAX_P; i++) v0[i] = sqrt(arg); |
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| 144 | |||
| 145 | mutex_lock(&mutex); |
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| 146 | grx_rect(XMIN-R-1, 480-TOP-BASE-R-1, XMAX+R+1, 480-BASE+R+1, 14); |
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| 147 | mutex_unlock(&mutex); |
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| 148 | |||
| 149 | k.flag = 0; |
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| 150 | k.scan = KEY_SPC; |
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| 151 | k.ascii = ' '; |
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| 152 | keyb_hook(k,ballfun); |
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| 153 | |||
| 154 | } |
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| 155 | |||
| 156 | /*--------------------------------------------------------------*/ |