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wrong frictionmodel, prepare for a force based test

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This commit is contained in:
Marcel Märtens 2022-05-31 11:37:34 +02:00
parent 2b469115eb
commit 1b5db351d2
1 changed files with 33 additions and 9 deletions
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42
common/systems/tests/phys/basic.rs
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@ -299,11 +299,38 @@ fn cant_run_during_fall() -> Result<(), Box<dyn Error>> {
#[test]
fn physics_theory() -> Result<(), Box<dyn Error>> {
let fric_ground = 0.1;
let fric_air = 0.9_f64;
let tick = |i: usize, move_dir: f64, vel: f64, pos: f64, dt: f64| {
//let diff_vec = last_acc * dt;
let acc = fric_air * move_dir;
/*
ROLLING_FRICTION_FORCE + AIR_FRICTION_FORCE + TILT_FRICT_FORCE + ACCEL_FORCE = TOTAL_FORCE
TILT_FRICT_FORCE = 0.0
TOTAL_FORCE = depends on char = const
ACCEL_FORCE = TOTAL_FORCE - ROLLING_FRICTION_FORCE - AIR_FRICTION_FORCE
ACCEL = ACCEL_FORCE / MASS
ROLLING_FRICTION_FORCE => Indepent of vel
AIR_FRICTION_FORCE => propotional to vel²
https://www.energie-lexikon.info/fahrwiderstand.html
https://www.energie-lexikon.info/reibung.html
https://sciencing.com/calculate-force-friction-6454395.html
https://www.leifiphysik.de/mechanik/reibung-und-fortbewegung
*/
let mass = 80.0;
let gravity = 9.81;
let f_n = mass * gravity;
let total_force = 2.0_f64 * mass;
let rolling_friction_co = 0.0001;
let rolling_friction_force = rolling_friction_co * f_n;
let air_friction_co = 0.0000_f64;
let air_friction_force = air_friction_co;
let accel_force = total_force - rolling_friction_force - air_friction_force;
let acc = accel_force / mass * move_dir;
// controller
let vel = vel + acc * dt;
@ -312,12 +339,9 @@ fn physics_theory() -> Result<(), Box<dyn Error>> {
let pos = pos + distance;
let fric = (1.0_f64 - fric_ground).powf(dt);
//println!("fric: {:4.4}", fric);
//let vel = vel * fric;
//let vel = (vel.powi(2) - dt* fric_ground*distance).sqrt();
if ((i+1) as f64 *dt * 10.0).round() as i64 % 2 == 0 {
println!("[{:0>2.1}]: move_dir: {:4.1}, acc: {:4.4}, vel: {:4.4}, pos: {:4.4}", (i+1) as f64 *dt, move_dir, acc, vel, pos);
println!("[{:0>2.1}]: move_dir: {:4.1}, acc: {:4.4}, vel: {:4.4}, pos: {:4.4}, accel_force: {:4.4}", (i+1) as f64 *dt, move_dir, acc, vel, pos, accel_force);
}
(acc, vel, pos)
};