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lego: Implement/match CalculateNewVel (#66)

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* lego: Implement/match CalculateNewVel

* remove braces

* consistency
This commit is contained in:
Christian Semmler
2023-07-01 01:24:46 +02:00
committed by GitHub
parent 428b5ae8db
commit d7b8d6463b
4 changed files with 43 additions and 16 deletions
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36
LEGO1/legonavcontroller.cpp
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@@ -106,8 +106,7 @@ void LegoNavController::SetControlMax(int p_hMax, int p_vMax)
this->m_hMax = p_hMax;
this->m_vMax = p_vMax;
if (VideoManager()->GetVideoParam().flags().GetFullScreen())
{
if (VideoManager()->GetVideoParam().flags().GetFullScreen()) {
this->m_hMax = 640;
this->m_vMax = 480;
}
@@ -134,19 +133,15 @@ void LegoNavController::ResetToDefault()
void LegoNavController::SetTargets(int p_hPos, int p_vPos, MxBool p_accel)
{
if (this->m_trackDefault != FALSE)
{
ResetToDefault();
}
if (p_accel != FALSE)
{
if (p_accel != FALSE) {
this->m_targetTurnSpeed = CalculateNewTargetSpeed(p_hPos, this->m_hMax / 2, this->m_turnMaxSpeed);
this->m_targetMovementSpeed = CalculateNewTargetSpeed(this->m_vMax - p_vPos, this->m_vMax / 2, this->m_movementMaxSpeed);
this->m_turnAccel = CalculateNewAccel(p_hPos, this->m_hMax / 2, this->m_turnMaxAccel, (int)this->m_turnMinAccel);
this->m_movementAccel = CalculateNewAccel(this->m_vMax - p_vPos, this->m_vMax / 2, this->m_movementMaxAccel, (int)this->m_movementMinAccel);
}
else
{
else {
this->m_targetTurnSpeed = 0.0f;
this->m_targetMovementSpeed = 0.0f;
this->m_movementAccel = this->m_movementDecel;
@@ -179,9 +174,28 @@ float LegoNavController::CalculateNewAccel(int p_pos, int p_center, float p_maxA
result = Abs(diff) * p_maxAccel / p_center;
if (result < p_minAccel)
{
result = (float)p_minAccel;
}
result = (float) p_minAccel;
return result;
}
// OFFSET: LEGO1 0x10054fe0
float LegoNavController::CalculateNewVel(float p_targetVel, float p_currentVel, float p_accel, float p_time)
{
float newVel = p_currentVel;
float velDiff = p_targetVel - p_currentVel;
int vSign = velDiff > 0 ? 1 : -1;
if (Abs(velDiff) > this->m_zeroThreshold) {
float deltaVel = p_accel * p_time;
newVel = p_currentVel + (deltaVel * vSign);
if (vSign > 0)
newVel = Min(newVel, p_targetVel);
else
newVel = Max(newVel, p_targetVel);
}
return newVel;
}