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Changes for page Ball Physics

Last modified by Soeren Domroes on 2025/01/30 12:18
From version 9.1
edited by stu104225
on 2020/03/07 12:25
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**'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.
1 +The **ball physics model** is meant to do things ... [TODO]
2 2  
3 3  \\
4 4  
5 -\\
6 6  
7 7  
8 -
9 9  {{toc/}}
10 10  
11 11  == Ball trajectory ==
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12 12  
13 13  ----
14 14  
15 -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.
16 -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.
13 +The trajectory of a ball can be modeled to be parabolic.
14 +\\\\\\like so: .... [TODO]
17 17  
18 -[[image:attach:Bildschirmfoto von 2020-03-07 12-21-22.png]]
19 -
20 -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//.
21 -The value of 6° is the incline of the playfield  measured on the physical device.
22 -
23 23  == Configuration ==
24 24  
25 25  ----
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26 26  
27 27  === Prediction parameters ===
28 28  
29 -(% class="wrapped" %)
30 30  |=(((
31 31  Parameter
32 32  )))|=(((
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59 59  10
60 60  )))
61 61  
62 -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.
63 -Nevertheless it is reasonable to calculate predictions beyond the next frame in case a ball is not recognized on the next frame.
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.
64 64  
65 -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.
56 +\\
66 66  
67 -The REFINEMENT_FACTOR is also the worst case number of predictions calculated during the reverse search part of the prediction process.
58 +So this number is also the worst case number of predictions calculated during the reverse search part of the prediction process.
68 68  
69 69  \\
70 70  
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125 125  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
126 126  and the other by a point at highest, outermost position of the angled part of the inlane.
127 127  
128 -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.
129 -Though in reality the still is some accelleration, a simple linear prediction has shown to be practical in this less critical area.
130 -
131 131  [[image:attach:physics_inlane.png]]
Confluence.Code.ConfluencePageClass[0]
Id
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1 -71401661
1 +71401643
URL
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1 -https://rtsys.informatik.uni-kiel.de/confluence//wiki/spaces/PP18/pages/71401661/Ball Physics
1 +https://rtsys.informatik.uni-kiel.de/confluence//wiki/spaces/PP18/pages/71401643/Ball Physics