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Changes for page Ball Physics

Last modified by Soeren Domroes on 2025/01/30 12:18
From version 12.1
edited by stu104225
on 2020/03/09 11:13
Change comment: There is no comment for this version
To version 7.1
edited by stu104225
on 2020/03/06 18:02
Change comment: There is no comment for this version

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1 1  The **ball physics model**'s main objective is to provide a point in time to the controller, when the ball is predicted to be hittable, in order to not let the ball fall into the drain.
2 -The code for what is described in this section can be found in the files "physics.cpp" and "physics.h".
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6 6  {{toc/}}
7 7  
8 8  == Ball trajectory ==
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9 9  
10 10  ----
11 11  
12 -The trajectory of a ball can be modeled to be parabolic. From two point //p// and //p_old// with corresponding timestamps, the velocity //v// is computed.
13 -For a future point in time //t//, with //t=0 //being the timestamp of// p//, we can then approximately approximately predict the corresponding ball position using the following formulas.
15 +The trajectory of a ball can be modeled to be parabolic.
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15 -[[image:attach:Bildschirmfoto von 2020-03-07 12-21-22.png]]
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17 -The incline of the playfield causes a vertical acceleration, which is modeled via a graviatational pull with the factor //g = sin(6°) * 9.81 m/s²//.
18 -The value of 6° is the incline of the playfield  measured on the physical device.
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20 -== Prediction ==
20 +\\\\like so: .... [TODO]
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22 -----
23 -
24 -The controller calls the function //full_prediction// passing it two subsequent ball positions with timestamps. From these a ball trajectory is infered as described above.
25 -Along the trajectory future times  are stepwisetested for whether the corresponding predicted position is in the flipper range.
26 -Once a position inside the flipper range is found the search is contiunued both forwards and backwards in smaller steps in order to find a good enough estimate of the first and last possible time to hit the ball.
27 -If the trajectory does not intersect the flipper range within a certain prediction frame (see below "**Prediction parameters**") a value far enough into the future is returned, that will be overwritten by subsequent predictions.
28 -
29 -With the current configuration the controller uses the middle point in time between the first and last possible time in order to be most positive to hit the ball.
30 -The computed velocity is also passed to the controller and used is some more advanced  tactical decisions like catching balls.
31 -
32 32  == Configuration ==
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34 34  ----
Confluence.Code.ConfluencePageClass[0]
Id
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1 -73072930
1 +71401657
URL
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1 -https://rtsys.informatik.uni-kiel.de/confluence//wiki/spaces/PP18/pages/73072930/Ball Physics
1 +https://rtsys.informatik.uni-kiel.de/confluence//wiki/spaces/PP18/pages/71401657/Ball Physics