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Changes for page Ball Physics

Last modified by Soeren Domroes on 2025/01/30 12:18
From version 3.1
edited by stu104225
on 2020/03/03 18:55
Change comment: There is no comment for this version
To version 5.1
edited by stu104225
on 2020/03/04 17:18
Change comment: There is no comment for this version

Summary

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Content
... ... @@ -1,55 +1,119 @@
1 +The **ball physics model** is meant to do things ... [TODO]
2 +
1 1  \\
2 2  
3 -== Task ==
4 4  
5 -The ball physics model is meant to do things ...
6 6  
7 -\\
7 +{{toc/}}
8 8  
9 -== Configuration ==
9 +== Ball trajectory ==
10 10  
11 -=== Points of interest ===
11 +----
12 12  
13 -\\
13 +The trajectory of a ball can be modeled to be parabolic.
14 +\\\\\\like so: .... [TODO]
14 14  
15 -[[image:attach:physics_points.png]]
16 +== Configuration ==
16 16  
17 -=== Flipper range ===
18 +----
18 18  
19 -\\
20 +=== Prediction parameters ===
20 20  
21 -\\
22 +|=(((
23 +Parameter
24 +)))|=(((
25 +Description
26 +)))|=(((
27 +Default value
28 +)))
29 +|(((
30 +PREDICTION_FRAME
31 +)))|(((
32 +window size for prediction - How far
22 22  
23 -\\
34 +into the future are predctions calculated at most.
35 +)))|(((
36 +70ms
37 +)))
38 +|(((
39 +PREDICTION_STEP_SIZE
40 +)))|(((
41 +size of the steps for the forward search
42 +)))|(((
43 +10ms
44 +)))
45 +|(((
46 +REFINEMENT_FACTOR
47 +)))|(((
48 +The prediction step size for the reverse search is
49 +PREDICTION_STEP_SIZE divided by REFINEMENT_FACTOR.
50 +)))|(((
51 +10
52 +)))
24 24  
54 +with the default values up to 7 predictions are calculated if the ball is not predicted to be in flipper range roughly within the next two frames.
55 +
25 25  \\
26 26  
27 -[[image:attach:physics2.png]]
58 +So this number is also the worst case number of predictions calculated during the reverse search part of the prediction process.
28 28  
29 29  \\
30 30  
31 -=== Inlane Area ===
62 +=== Flipper range ===
32 32  
33 -[[image:attach:physics_inlane.png]]
64 +The model of the area, where the the flippers can hit a ball is computed from a set of five points. These points are set to real world coordinates in meter
34 34  
35 -\\
66 +and should not need further adjustment after the camera is correctly calibrated (see [[doc:World Coordinate System]]).
36 36  
37 -=== Prediction parameters ===
68 +The values for the left flipper are set to be symmetrical.
38 38  
39 -\\
70 +[[image:attach:physics_points.png]]
40 40  
41 -\\
72 +(% class="wrapped" %)
73 +|=(((
74 +Point#
75 +)))|=(((
76 +Description
77 +)))
78 +|(((
79 +1
80 +)))|(((
81 +center point of the circle that the flippers tip moves o
82 +)))
83 +|(((
84 +2
85 +)))|(((
86 +highest point a ball can be at when it hits the resting flipper
87 +)))
88 +|(((
89 +3
90 +)))|(((
91 +lowest point a ball can be at when it hits the resting flipper
92 +)))
93 +|(((
94 +4
95 +)))|(((
96 +lowest point a ball can be at when it hits the fully triggered flipper
97 +)))
98 +|(((
99 +5
100 +)))|(((
101 +highest point a ball can be at when it hits the fully triggered flipper
102 +)))
42 42  
43 43  \\
44 44  
45 -\\
106 +From these points an area, where the ball is deemed to be hittable, is computed.
46 46  
47 -\\
108 +[[image:attach:physics2.png]]
48 48  
49 49  \\
50 50  
51 -\\
112 +=== Inlane Area ===
52 52  
53 -\\
114 +Since the trajectory prediction does not consider collisions in general, we need a different kind of predictions for the inlanes,
115 +i.e. the path feeding a falling ball from the playfield to the flippers, behind the slingshot.
116 +A ball is considered to be in an inlane, when it is in a rectangualar area, with one edge given by the begin of the flipper
117 +and the other by a point at highest, outermost position of the angled part of the inlane.
54 54  
55 -\\
119 +[[image:attach:physics_inlane.png]]
Confluence.Code.ConfluencePageClass[0]
Id
... ... @@ -1,1 +1,1 @@
1 -71401639
1 +71401643
URL
... ... @@ -1,1 +1,1 @@
1 -https://rtsys.informatik.uni-kiel.de/confluence//wiki/spaces/PP18/pages/71401639/Ball Physics
1 +https://rtsys.informatik.uni-kiel.de/confluence//wiki/spaces/PP18/pages/71401643/Ball Physics