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https://gitlab.com/veloren/veloren.git
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fmt and prepare a better unit-test framework for pyhiscs run tests
Note: i added an if to check that we dont divide by 0 in revert_fak
This commit is contained in:
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2d73375ff3
commit
34c5682485
@ -295,117 +295,225 @@ fn cant_run_during_fall() -> Result<(), Box<dyn Error>> {
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Ok(())
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}
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// The problem with old_vec is that we cant start with 0.0 0.0 0.0 as it will make the first tick different on all examples
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fn mass_c() -> (f64, f64) {
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let mass = 1.0;
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let air_friction_co = 0.9_f64;
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let air_friction_area = 0.75_f64;
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let air_density = 1.225_f64;
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let c = air_friction_co * air_friction_area * 0.5 * air_density * mass;
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(mass, c)
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}
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fn test_run_helper(
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tps: u32,
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start_vel: f64,
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start_pos: f64,
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test_series: Vec<(/* acc */ f64, /* duration */ f64)>,
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) -> (f64, f64) {
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let dt = 1.0 / tps as f64;
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let (mass, c) = mass_c();
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println!("");
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println!("dt: {:0>4.4} - mass: {:0>4.4} - c: {:0>4.4}", dt, mass, c);
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let (mut vel, mut pos) = (start_vel, start_pos);
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let mut i = 0;
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for (move_dir, duration) in test_series {
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let count = (duration / dt).round() as usize;
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println!("move_dir: {:0>4.4}", move_dir);
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for _ in 0..count {
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(vel, pos) = acc_with_frict_tick(i, move_dir, vel, pos, dt);
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i += 1;
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}
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}
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(vel, pos)
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}
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macro_rules! veriy_diffs {
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($vel1:expr, $pos1:expr, $vel2:expr, $pos2:expr) => {
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let vel_diff = ($vel2 - $vel1).abs();
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let pos_diff = ($pos2 - $pos1).abs();
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println!("vel_diff: {:4.4}, pos_diff: {:4.4}", vel_diff, pos_diff);
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assert_relative_eq!(vel_diff, 0.0, epsilon = EPSILON as f64);
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assert_relative_eq!(pos_diff, 0.0, epsilon = EPSILON as f64);
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};
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}
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/// ROLLING_FRICTION_FORCE + AIR_FRICTION_FORCE + TILT_FRICT_FORCE + ACCEL_FORCE
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/// = TOTAL_FORCE
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///
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/// TILT_FRICT_FORCE = 0.0
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/// TOTAL_FORCE = depends on char = const
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/// ACCEL_FORCE = TOTAL_FORCE - ROLLING_FRICTION_FORCE - AIR_FRICTION_FORCE
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/// ACCEL = ACCEL_FORCE / MASS
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///
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/// ROLLING_FRICTION_FORCE => Indepent of vel
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/// AIR_FRICTION_FORCE => propotional to vel²
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///
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/// https://www.energie-lexikon.info/fahrwiderstand.html
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/// https://www.energie-lexikon.info/reibung.html
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/// https://sciencing.com/calculate-force-friction-6454395.html
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/// https://www.leifiphysik.de/mechanik/reibung-und-fortbewegung
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fn acc_with_frict_tick(i: usize, move_dir: f64, vel: f64, pos: f64, dt: f64) -> (f64, f64) {
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let (mass, c) = mass_c();
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const MAX_ACC: f64 = 9.2;
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let acc = MAX_ACC * move_dir; // btw: cant accelerate faster than gravity on foot
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let old_vel = vel;
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// controller
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// I know what you think, wtf, yep: https://math.stackexchange.com/questions/1929436/line-integral-of-force-of-air-resistanc
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// basically an integral of the air resistance formula which scales with v^2
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// transformed with an ODE.
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// terminal velocity equals the maximum velocity that can be reached by acc
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// alone
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let vel_t = (mass * acc.abs() / c).sqrt();
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let _vel_tm = (mass * MAX_ACC / c).sqrt();
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// if our old_vel is bigger than vel_t we can use `coth(x) = 1/tanh(x)` and
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// `acoth(x) = atanh(1/x)`
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let revert_fak = if vel_t != 0.0 {
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old_vel / vel_t
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} else {
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1337.0
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};
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let vel = if revert_fak.abs() >= 1.0 {
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vel_t / ((1.0 / revert_fak).atanh() + acc.signum() * (c * acc.abs()).sqrt() * dt).tanh()
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} else {
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vel_t * ((revert_fak).atanh() + acc.signum() * (c * acc.abs()).sqrt() * dt).tanh()
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};
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//physics
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let distance_last = mass / c * (((old_vel * (c / acc / mass).sqrt()).atanh()).cosh()).ln();
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let distance = mass / c
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* (((old_vel * (c / acc / mass).sqrt()).atanh() + dt * (c * acc / mass).sqrt()).cosh())
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.ln();
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let diff = distance - distance_last;
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let diff = if !diff.is_finite() { 0.0 } else { diff };
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let pos = pos + diff;
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let ending = ((i + 1) as f64 * dt * 100.0).round() as i64;
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let line = format!(
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"[{:0>2.2}]: acc: {:0>5.4}, revert_fak: {:0>4.4}, vel: {:0>4.4}, dist: \
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{:0>7.4}, pos: {:0>7.4}",
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(i + 1) as f64 * dt,
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acc,
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revert_fak,
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vel,
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distance,
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pos
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);
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if ending % 10 != 0 {
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println!("\x1b[94m{}\x1b[0m", line)
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} else {
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println!("{}", line)
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}
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(vel, pos)
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}
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#[test]
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fn physics_theory() -> Result<(), Box<dyn Error>> {
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let tick = |i: usize, move_dir: f64, acc: f64, vel: f64, pos: f64, dt: f64| {
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/*
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ROLLING_FRICTION_FORCE + AIR_FRICTION_FORCE + TILT_FRICT_FORCE + ACCEL_FORCE = TOTAL_FORCE
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fn physics_constant_walk() {
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let (vel_05, pos_05) = test_run_helper(20, 0.0, 0.0, vec![(0.5, 0.5)]);
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let (vel_10, pos_10) = test_run_helper(10, 0.0, 0.0, vec![(0.5, 0.5)]);
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TILT_FRICT_FORCE = 0.0
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TOTAL_FORCE = depends on char = const
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ACCEL_FORCE = TOTAL_FORCE - ROLLING_FRICTION_FORCE - AIR_FRICTION_FORCE
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ACCEL = ACCEL_FORCE / MASS
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veriy_diffs!(vel_05, pos_05, vel_10, pos_10);
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}
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ROLLING_FRICTION_FORCE => Indepent of vel
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AIR_FRICTION_FORCE => propotional to vel²
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https://www.energie-lexikon.info/fahrwiderstand.html
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#[test]
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fn physics_constant_stay() {
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let (vel_05, pos_05) = test_run_helper(20, 0.0, 0.0, vec![(0.0, 1.0)]);
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let (vel_10, pos_10) = test_run_helper(10, 0.0, 0.0, vec![(0.0, 1.0)]);
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https://www.energie-lexikon.info/reibung.html
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veriy_diffs!(vel_05, pos_05, vel_10, pos_10);
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assert_relative_eq!(vel_05, 0.0, epsilon = EPSILON as f64);
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assert_relative_eq!(pos_05, 0.0, epsilon = EPSILON as f64);
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}
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https://sciencing.com/calculate-force-friction-6454395.html
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#[test]
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fn physics_walk_run_b() {
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let (vel_05, pos_05) = test_run_helper(20, 0.0, 0.0, vec![(0.5, 2.0), (1.0, 2.0)]);
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let (vel_10, pos_10) = test_run_helper(10, 0.0, 0.0, vec![(0.5, 2.0), (1.0, 2.0)]);
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https://www.leifiphysik.de/mechanik/reibung-und-fortbewegung
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veriy_diffs!(vel_05, pos_05, vel_10, pos_10);
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}
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#[test]
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fn physics_walk_run_walk() {
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let (vel_05, pos_05) = test_run_helper(20, 0.0, 0.0, vec![(0.5, 2.0), (1.0, 3.0), (0.5, 0.5)]);
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let (vel_10, pos_10) = test_run_helper(10, 0.0, 0.0, vec![(0.5, 2.0), (1.0, 3.0), (0.5, 0.5)]);
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*/
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veriy_diffs!(vel_05, pos_05, vel_10, pos_10);
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}
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let mass = 1.0;
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#[test]
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fn physics_run_walk_b() {
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let (vel_05, pos_05) = test_run_helper(20, 0.0, 0.0, vec![(1.0, 0.5), (0.5, 0.5)]);
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let (vel_10, pos_10) = test_run_helper(10, 0.0, 0.0, vec![(1.0, 0.5), (0.5, 0.5)]);
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let air_friction_co = 0.9_f64;
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let air_friction_area = 0.75_f64;
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let air_density = 1.225_f64;
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let c = air_friction_co * air_friction_area * 0.5 * air_density * mass ;
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veriy_diffs!(vel_05, pos_05, vel_10, pos_10);
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}
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const MAX_ACC: f64 = 9.2;
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let acc = MAX_ACC * move_dir; // btw: cant accelerate faster than gravity on foot
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let old_vel = vel;
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#[test]
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fn physics_runlong_walk_b() {
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let (vel_05, pos_05) = test_run_helper(20, 0.0, 0.0, vec![(1.0, 3.0), (0.5, 0.5)]);
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let (vel_10, pos_10) = test_run_helper(10, 0.0, 0.0, vec![(1.0, 3.0), (0.5, 0.5)]);
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// controller
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// I know what you think, wtf, yep: https://math.stackexchange.com/questions/1929436/line-integral-of-force-of-air-resistanc
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// basically an integral of the air resistance formula which scales with v^2 transformed with an ODE.
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veriy_diffs!(vel_05, pos_05, vel_10, pos_10);
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}
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// terminal velocity equals the maximum velocity that can be reached by acc alone
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let vel_t = (mass * acc.abs() / c ).sqrt();
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let _vel_tm = (mass * MAX_ACC / c ).sqrt();
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#[test]
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fn physics_walk_stop() {
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let (vel_05, pos_05) = test_run_helper(20, 0.0, 0.0, vec![(0.5, 0.5), (0.0, 0.5)]);
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let (vel_10, pos_10) = test_run_helper(10, 0.0, 0.0, vec![(0.5, 0.5), (0.0, 0.5)]);
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// if our old_vel is bigger than vel_t we can use `coth(x) = 1/tanh(x)` and `acoth(x) = atanh(1/x)`
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let revert_fak = old_vel / vel_t ;
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let vel = if revert_fak.abs() >= 1.0 {
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vel_t / ( ( 1.0 / revert_fak).atanh() + acc.signum() * (c * acc.abs()).sqrt() * dt ).tanh()
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} else {
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vel_t * ( ( revert_fak ).atanh() + acc.signum() * (c * acc.abs()).sqrt() * dt ).tanh()
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};
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veriy_diffs!(vel_05, pos_05, vel_10, pos_10);
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}
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//physics
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let distance_last = mass / c * ( ( ( old_vel * (c/acc / mass).sqrt()).atanh() ).cosh() ).ln();
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let distance = mass / c * ( ( ( old_vel * (c/acc / mass).sqrt()).atanh() + dt* (c * acc / mass).sqrt()).cosh() ).ln();
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let diff = distance - distance_last;
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let diff = if !diff.is_finite() {
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0.0
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} else {
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diff
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};
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#[test]
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fn physics_runlong_stop() {
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let (vel_05, pos_05) = test_run_helper(20, 0.0, 0.0, vec![(1.0, 3.0), (0.0, 0.5)]);
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let (vel_10, pos_10) = test_run_helper(10, 0.0, 0.0, vec![(1.0, 3.0), (0.0, 0.5)]);
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let pos = pos + diff;
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veriy_diffs!(vel_05, pos_05, vel_10, pos_10);
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}
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#[test]
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fn physics_stop_walk() {
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let (vel_05, pos_05) = test_run_helper(20, 0.0, 0.0, vec![(0.0, 0.5), (0.5, 0.5)]);
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let (vel_10, pos_10) = test_run_helper(10, 0.0, 0.0, vec![(0.0, 0.5), (0.5, 0.5)]);
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let ending = ((i+1) as f64 *dt * 10.0).round() as i64;
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let line = format!("[{:0>2.1}]: move_dir: {:0>1.1}, acc: {:0>4.4}, revert_fak: {:0>4.4}, vel: {:0>4.4}, dist: {:0>7.4}, dist: {:0>7.4}, pos: {:0>7.4}, c: {:0>4.4}", (i+1) as f64 *dt, move_dir, acc, revert_fak, vel, distance_last, distance, pos, c);
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if ending % 10 == 0 {
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println!("\x1b[91m{}\x1b[0m", line)
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} else if ending % 2 != 0 {
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println!("\x1b[94m{}\x1b[0m", line)
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} else {
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println!("{}", line)
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}
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veriy_diffs!(vel_05, pos_05, vel_10, pos_10);
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}
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(acc, vel, pos)
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};
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#[test]
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fn physics_run_walkback() {
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let (vel_05, pos_05) = test_run_helper(20, 0.0, 0.0, vec![(0.5, 0.5), (-0.5, 0.5)]);
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let (vel_10, pos_10) = test_run_helper(10, 0.0, 0.0, vec![(0.5, 0.5), (-0.5, 0.5)]);
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let test_run = |tps: u32| {
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let dt = 1.0 / tps as f64;
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println!("");
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println!("dt: {}", dt);
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let (mut acc, mut vel, mut pos) = (0.0, 0.0, 0.0);
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let mut i = 0;
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for _ in 0..tps*2 {
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(acc, vel, pos) = tick(i, 1.0, acc, vel, pos, dt);
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i += 1;
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}
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for _ in 0..tps*2 {
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(acc, vel, pos) = tick(i, 0.1, acc, vel, pos, dt);
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i += 1;
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}
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for _ in 0..tps {
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(acc, vel, pos) = tick(i, 1.0, acc, vel, pos, dt);
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i += 1;
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}
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(vel, pos)
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};
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veriy_diffs!(vel_05, pos_05, vel_10, pos_10);
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}
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let (vel_final_01, pos_final_01) = test_run(10);
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let (vel_final_02, pos_final_02) = test_run(5);
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let (vel_final_10, pos_final_10) = test_run(1);
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#[test]
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fn physics_runlong_walkback_stop() {
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let (vel_05, pos_05) = test_run_helper(20, 0.0, 0.0, vec![(1.0, 3.0), (-0.5, 0.5), (0.0, 0.5)]);
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let (vel_10, pos_10) = test_run_helper(10, 0.0, 0.0, vec![(1.0, 3.0), (-0.5, 0.5), (0.0, 0.5)]);
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let vel_diff = (vel_final_02 - vel_final_01).abs();
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let pos_diff = (pos_final_02 - pos_final_01).abs();
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println!("[ #1 ] vel_diff: {:4.4}, pos_diff: {:4.4}", vel_diff, pos_diff);
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veriy_diffs!(vel_05, pos_05, vel_10, pos_10);
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}
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let vel_diff = (vel_final_10 - vel_final_01).abs();
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let pos_diff = (pos_final_10 - pos_final_01).abs();
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println!("[ #2 ] vel_diff: {:4.4}, pos_diff: {:4.4}", vel_diff, pos_diff);
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#[test]
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fn physics_walkback_stop() {
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let (vel_05, pos_05) = test_run_helper(20, 0.0, 0.0, vec![(-0.5, 0.5), (0.0, 0.5)]);
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let (vel_10, pos_10) = test_run_helper(10, 0.0, 0.0, vec![(-0.5, 0.5), (0.0, 0.5)]);
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Ok(())
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}
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veriy_diffs!(vel_05, pos_05, vel_10, pos_10);
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}
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#[test]
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fn physics_walkback_run() {
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let (vel_05, pos_05) = test_run_helper(20, 0.0, 0.0, vec![(-0.5, 5.0), (1.0, 0.5)]);
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let (vel_10, pos_10) = test_run_helper(10, 0.0, 0.0, vec![(-0.5, 5.0), (1.0, 0.5)]);
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veriy_diffs!(vel_05, pos_05, vel_10, pos_10);
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}
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