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#pragma once
#include <math.h>
#include "accel-base.hpp"
namespace rawaccel {
/// <summary> Struct to hold sigmoid (s-shaped) gain implementation. </summary>
struct experimenttwo_impl {
double rate;
double limit;
double midpoint;
double subtractive_constant;
experimenttwo_impl(const accel_args& args) :
rate(pow(10,args.rate)), 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(double* lookup, double speed)
{
int index = map(speed);
double slope = lookup[index];
double intercept = lookup[index + 1];
return slope + intercept / speed;
}
inline int map(double speed)
{
return speed > 0 ? (int)floor(200*log10(speed)+402) : 0;
}
inline double fill(double* lookup)
{
double lookup_speed = 0;
double gain_integral_speed = 0;
double gain = 0;
double intercept = 0;
double output = 0;
int index = 0;
lookup[index] = gain;
lookup[index + 1] = intercept;
for (double x = -2.0; x <= 4.0; x += 0.01)
{
index+=2;
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 = gain * lookup_speed - output;
lookup[index] = gain;
lookup[index + 1] = intercept;
}
}
};
using accel_experimentone = nonadditive_accel<experimenttwo_impl>;
}
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