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#pragma once
#include <math.h>
#include "accel-base.hpp"
#define RA_LOOKUP
namespace rawaccel {
constexpr size_t LUT_SIZE = 601;
struct si_pair {
double slope = 0;
double intercept = 0;
};
/// <summary> Struct to hold sigmoid (s-shaped) gain implementation. </summary>
struct motivity_impl {
double rate;
double limit;
double midpoint;
double subtractive_constant;
motivity_impl(const accel_args& args) :
rate(pow(10,args.accel)), limit(2*log10(args.limit)), midpoint(log10(args.midpoint))
{
subtractive_constant = limit / 2;
}
inline double operator()(double speed) const {
double log_speed = log10(speed);
return pow(10, limit / (exp(-rate * (log_speed - midpoint)) + 1) - subtractive_constant);
}
inline double legacy_offset(double speed) const { return operator()(speed); }
inline double apply(si_pair* lookup, double speed) const
{
si_pair pair = lookup[map(speed)];
return pair.slope + pair.intercept / speed;
}
inline int map(double speed) const
{
int index = speed > 0 ? (int)(100 * log10(speed) + 201) : 0;
if (index < 0) return 0;
if (index >= LUT_SIZE) return LUT_SIZE - 1;
return index;
}
inline void fill(si_pair* lookup) const
{
double lookup_speed = 0;
double gain_integral_speed = 0;
double gain = 0;
double intercept = 0;
double output = 0;
double x = -2;
lookup[0] = {};
for (size_t i = 1; i < LUT_SIZE; i++)
{
x += 0.01;
lookup_speed = pow(10, x);
while (gain_integral_speed < lookup_speed)
{
gain_integral_speed += 0.001;
gain = operator()(gain_integral_speed);
output += gain * 0.001;
}
intercept = output - gain * lookup_speed;
lookup[i] = { gain, intercept };
}
}
};
using accel_motivity = nonadditive_accel<motivity_impl>;
}
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