public void TestEssentialMath()
{
Parabola fullSpeedPath = new Parabola(1, 0, 0);
Parabola fullRetreatPath = new Parabola(-1, 0, 0);
Paraboloid speedThenRetreat = fullSpeedPath.FollowedBy(fullRetreatPath);
float newPartialTime = speedThenRetreat.SpecialShit(1, 0, -1);
AssertExtra.AreApproximate(newPartialTime, 2);
float newPartialTime2 = speedThenRetreat.SpecialShit(0, 0, -1);
AssertExtra.AreApproximate(newPartialTime2, 0);
float newPartialTime3 = speedThenRetreat.SpecialShit(0, -1, -1);
AssertExtra.AreApproximate(newPartialTime3, 1 + Math.Sqrt(2));
float rT = (newPartialTime3 - 1) / (2);
float lT = newPartialTime3 - rT;
AssertExtra.AreApproximate(rT, Math.Sqrt(0.5));
AssertExtra.AreApproximate(lT, 1 + Math.Sqrt(0.5));
}
public PointFunction(Geometry.Point p1, Geometry.Point p2, PointFunction old, float accel, float gravity)
{
Vector2 path = ((Vector2)p2-(Vector2)p1);
Vector2 normalized = path;
normalized.Normalize();
float g = gravity * path.Y / path.Length();
// r and l have been specifically framed this way, and affect several equations
float r = g + accel;
float l = -g + accel;
float d = path.Length();
foreach(var pair in old.timings)
{
// is positive if it assists acceleration towards p2 (aka right)
float b = FromKey(pair.Key);
// collisions reduce speed
Vector2 prevPath = (Vector2)p1 - pair.Value.posAt(0);
if (prevPath != Vector2.Zero)
{
b *= Math.Abs(Vector2.Dot(path, prevPath)) / (path.Length() * prevPath.Length());
}
Parabola fullSpeedPath = new Parabola(r, b, 0);
Parabola fullRetreatPath = new Parabola(-l, b, 0);
Paraboloid speedThenRetreat = fullSpeedPath.FollowedBy(fullRetreatPath);
int lowerBound = ToKey(fullRetreatPath.SpeedAt(d, 0));
int upperBound = ToKey(fullSpeedPath.SpeedAt(d, 0));
for (int i = lowerBound; i <= upperBound; i++)
{
float f = FromKey(i);
float newPartialTime = speedThenRetreat.SpecialShit(d, f, -1);
if (newPartialTime >= 0)
{
float newT = newPartialTime + pair.Value.totalTime;
if (!timings.ContainsKey(i) || timings[i].totalTime > newT)
{
float rT = (l * newPartialTime + f - b) / (l + r);
float lT = newPartialTime - rT;
timings[i] = new Path(newT-lT, p1, b * normalized, r * normalized, pair.Value);
timings[i] = new Path(newT, timings[i].posAt(rT), timings[i].vAt(rT), -l * normalized, timings[i]);
}
}
}
}
}
public Paraboloid FollowedBy(Parabola that)
{
Paraboloid combined = new Paraboloid(this.a/2, that.a/2, this.v, this.v, that.v, this.p+ that.p);
return combined;
}
internal static PointFunction Return(Geometry.Point p1, Geometry.Point p2, PointFunction old, float accel, float gravity)
{
// either you accelerate fully away and then return to get a higher speed, or you try to backpedel and then brace yourself to get a lower speed
PointFunction answer = new PointFunction();
Vector2 path = ((Vector2)p2 - (Vector2)p1);
Vector2 normalized = path;
normalized.Normalize();
float g = gravity * path.Y / path.Length();
// r and l have been specifically framed this way, and affect several equations
float r = g + accel;
float l = -g + accel;
float d = (p1.v.Position - p2.v.Position).Length();
foreach (var pair in old.timings)
{
// is positive if it assists acceleration towards p2 (aka right)
float b = FromKey(pair.Key);
// collisions reduce speed
Vector2 l1 = (Vector2)p2 - (Vector2)p1;
Vector2 l2 = (Vector2)p1 - pair.Value.posAt(0);
if (l2 != Vector2.Zero)
{
b *= Math.Abs(Vector2.Dot(l1, l2)) / (l1.Length() * l2.Length());
}
// old
/*int lowerBound = ToKey(b);
int upperBound = ToKey(Math.Sqrt(Math.Max(b * b + 2 * r * d, 0)));
float newPartialTime = 2 * b / l;
if (true)
{
float newT = newPartialTime + pair.Value.totalTime;
int i = ToKey(b);
if (!answer.timings.ContainsKey(i) || answer.timings[i].totalTime > newT)
{
answer.timings[i] = new Path(newT, p1, b * normalized, -l * normalized, pair.Value);
}
}*/
// if trying to speed up first
Parabola fullSpeedPath = new Parabola(r, b, 0);
Parabola fullRetreatPath = new Parabola(-l, b, 0);
Paraboloid speedThenRetreat = fullSpeedPath.FollowedBy(fullRetreatPath);
int lowerBound = ToKey(b);
int upperBound = ToKey(Math.Sqrt(2*l*d));
//int upperBound = ToKey();
for (int i = lowerBound; i <= upperBound; i++)
{
float f = FromKey(i);
float newPartialTime = speedThenRetreat.SpecialShit(0, -f, -1);
if (newPartialTime >= 0)
{
float newT = newPartialTime + pair.Value.totalTime;
if (!answer.timings.ContainsKey(i) || answer.timings[i].totalTime > newT)
{
//float rT = newPartialTime * 0.27f;
//float rT = (l * newPartialTime + f - b) / (l + r);
//f=b+rt-lg
//T=t+g
//lT+f=b+rt+lt
//t=(lT+f-b)/(l+r)
float rT = (l * newPartialTime - f - b) / (l + r);
float lT = newPartialTime - rT;
answer.timings[i] = new Path(newT - lT, p1, b * normalized, r * normalized, pair.Value);
answer.timings[i] = new Path(newT, answer.timings[i].posAt(rT), answer.timings[i].vAt(rT), -l * normalized, answer.timings[i]);
}
}
}
}
return answer;
}
