Skip to Content

Changes for page Ball Physics

Last modified by Soeren Domroes on 2025/01/30 12:18
From version 6.1
edited by stu104225
on 2020/03/04 17:32
Change comment: There is no comment for this version
To version 1.1
edited by stu104225
on 2020/03/03 18:03
Change comment: There is no comment for this version

Summary

Details

Page properties
Content
... ... @@ -1,124 +3,55 @@
1 -The **ball physics model** is meant to do things ... [TODO]
2 -
3 3  \\
4 4  
3 +== Task ==
5 5  
5 +The ball physics model is meant to do things ...
6 6  
7 -{{toc/}}
7 +\\
8 8  
9 -== Ball trajectory ==
10 -
11 -----
12 -
13 -The trajectory of a ball can be modeled to be parabolic.
14 -\\\\\\like so: .... [TODO]
15 -
16 16  == Configuration ==
17 17  
18 -----
11 +=== Points of interest ===
19 19  
20 -=== Prediction parameters ===
13 +\\
21 21  
22 -(% class="wrapped" %)
23 -|=(((
24 -Parameter
25 -)))|=(((
26 -Description
27 -)))|=(((
28 -Default value
29 -)))
30 -|(((
31 -PREDICTION_FRAME
32 -)))|(((
33 -window size for prediction - How far
15 +[[image:attach:physics_points.png]]
34 34  
35 -into the future are predctions calculated at most.
36 -)))|(((
37 -70ms
38 -)))
39 -|(((
40 -PREDICTION_STEP_SIZE
41 -)))|(((
42 -size of the steps for the forward search
43 -)))|(((
44 -10ms
45 -)))
46 -|(((
47 -REFINEMENT_FACTOR
48 -)))|(((
49 -The prediction step size for the reverse search is
50 -PREDICTION_STEP_SIZE divided by REFINEMENT_FACTOR.
51 -)))|(((
52 -10
53 -)))
17 +=== Flipper range ===
54 54  
55 -When setting the PREDICTION_FRAME keep in mind, that predictions, that reach multiple frames into the future, are likely to be overwritten, when new frames arrive and new predictions are calculated.
56 -Nevertheless it is reasonable to calculate predictions beyond the next frame in case a ball is not recognized on the next frame.
19 +\\
57 57  
58 -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.
21 +\\
59 59  
60 -The REFINEMENT_FACTOR is also the worst case number of predictions calculated during the reverse search part of the prediction process.
23 +\\
61 61  
62 62  \\
63 63  
64 -=== Flipper range ===
27 +[[image:attach:physics2.png]]
65 65  
66 -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
29 +\\
67 67  
68 -and should not need further adjustment after the camera is correctly calibrated (see [[doc:World Coordinate System]]).
31 +=== Inlane Area ===
69 69  
70 -The values for the left flipper are set to be symmetrical.
33 +[[image:attach:physics_inlane.png]]
71 71  
72 -[[image:attach:physics_points.png]]
35 +\\
73 73  
74 -(% class="wrapped" %)
75 -|=(((
76 -Point#
77 -)))|=(((
78 -Description
79 -)))
80 -|(((
81 -1
82 -)))|(((
83 -center point of the circle that the flippers tip moves o
84 -)))
85 -|(((
86 -2
87 -)))|(((
88 -highest point a ball can be at when it hits the resting flipper
89 -)))
90 -|(((
91 -3
92 -)))|(((
93 -lowest point a ball can be at when it hits the resting flipper
94 -)))
95 -|(((
96 -4
97 -)))|(((
98 -lowest point a ball can be at when it hits the fully triggered flipper
99 -)))
100 -|(((
101 -5
102 -)))|(((
103 -highest point a ball can be at when it hits the fully triggered flipper
104 -)))
37 +=== Prediction parameters ===
105 105  
106 106  \\
107 107  
108 -From these points an area, where the ball is deemed to be hittable, is computed.
41 +\\
109 109  
110 -[[image:attach:physics2.png]]
43 +\\
111 111  
112 112  \\
113 113  
114 -=== Inlane Area ===
47 +\\
115 115  
116 -Since the trajectory prediction does not consider collisions in general, we need a different kind of predictions for the inlanes,
117 -i.e. the path feeding a falling ball from the playfield to the flippers, behind the slingshot.
118 -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
119 -and the other by a point at highest, outermost position of the angled part of the inlane.
49 +\\
120 120  
121 -In this area the vertical accelleration is deactivated in the prediction, since it would cause the prediction to assume the would slide into the wall.
122 -Though in reality the still is some accelleration, a simple linear prediction has shown to be practical in this less critical area.
51 +\\
123 123  
124 -[[image:attach:physics_inlane.png]]
53 +\\
54 +
55 +\\
Confluence.Code.ConfluencePageClass[0]
Id
... ... @@ -1,1 +1,1 @@
1 -71401645
1 +71401601
URL
... ... @@ -1,1 +1,1 @@
1 -https://rtsys.informatik.uni-kiel.de/confluence//wiki/spaces/PP18/pages/71401645/Ball Physics
1 +https://rtsys.informatik.uni-kiel.de/confluence//wiki/spaces/PP18/pages/71401601/Ball Physics