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Changes for page Ball Physics

Last modified by Soeren Domroes on 2025/01/30 12:18
From version 4.1
edited by stu104225
on 2020/03/04 16:26
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

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Content
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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 +{{toc/}}
8 +
7 7  == Ball trajectory ==
8 8  
11 +----
12 +
9 9  The trajectory of a ball can be modeled to be parabolic.
14 +\\\\\\like so: .... [TODO]
10 10  
11 11  == Configuration ==
12 12  
13 -=== Points of interest ===
18 +----
14 14  
20 +=== Prediction parameters ===
21 +
22 +|=(((
23 +Parameter
24 +)))|=(((
25 +Description
26 +)))|=(((
27 +Default value
28 +)))
29 +|(((
30 +PREDICTION_FRAME
31 +)))|(((
32 +window size for prediction - How far
33 +
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 +)))
53 +
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 +
56 +\\
57 +
58 +So this number is also the worst case number of predictions calculated during the reverse search part of the prediction process.
59 +
60 +\\
61 +
62 +=== Flipper range ===
63 +
15 15  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
16 16  
17 17  and should not need further adjustment after the camera is correctly calibrated (see [[doc:World Coordinate System]]).
18 18  
68 +The values for the left flipper are set to be symmetrical.
69 +
19 19  [[image:attach:physics_points.png]]
20 20  
72 +(% class="wrapped" %)
21 21  |=(((
22 22  Point#
23 23  )))|=(((
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51 51  
52 52  \\
53 53  
54 -=== Flipper range ===
106 +From these points an area, where the ball is deemed to be hittable, is computed.
55 55  
56 -From the aforementioned points
57 -
58 -\\
59 -
60 -\\
61 -
62 -\\
63 -
64 64  [[image:attach:physics2.png]]
65 65  
66 66  \\
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67 67  
68 68  === Inlane Area ===
69 69  
70 -\\
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.
71 71  
72 72  [[image:attach:physics_inlane.png]]
73 -
74 -\\
75 -
76 -=== Prediction parameters ===
77 -
78 -\\
79 -
80 -\\
81 -
82 -\\
83 -
84 -\\
85 -
86 -\\
87 -
88 -\\
89 -
90 -\\
91 -
92 -\\
93 -
94 -\\
95 -
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97 -
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Confluence.Code.ConfluencePageClass[0]
Id
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1 -71401641
1 +71401643
URL
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1 -https://rtsys.informatik.uni-kiel.de/confluence//wiki/spaces/PP18/pages/71401641/Ball Physics
1 +https://rtsys.informatik.uni-kiel.de/confluence//wiki/spaces/PP18/pages/71401643/Ball Physics