1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
|
#pragma once
#include "rawaccel-base.hpp"
#include <float.h>
namespace rawaccel {
struct power_base {
vec2d offset;
double scale;
double constant;
power_base(const accel_args& args)
{
auto n = args.exponent_power;
if (args.cap_mode != cap_mode::io) {
scale = args.scale;
}
else if (args.gain) {
scale = scale_from_gain_point(args.cap.x, args.cap.y, n);
}
else {
/*
* special case for legacy + io cap mode
*
* offset is ignored because of the circular dependency:
* scale -> constant -> offset
*/
offset = {};
constant = 0;
scale = scale_from_sens_point(args.cap.x, args.cap.y, n, constant);
return;
}
offset.x = gain_inverse(args.output_offset, n, scale);
offset.y = args.output_offset;
constant = offset.x * offset.y * n / (n + 1);
}
double base_fn(double x, const accel_args& args) const
{
if (x <= offset.x) {
return offset.y;
}
else {
return pow(scale * x, args.exponent_power) + constant / x;
}
}
static double gain(double input, double power, double scale)
{
return (power + 1) * pow(input * scale, power);
}
static double gain_inverse(double gain, double power, double scale)
{
return pow(gain / (power + 1), 1 / power) / scale;
}
static double scale_from_gain_point(double input, double gain, double power)
{
return pow(gain / (power + 1), 1 / power) / input;
}
static double scale_from_sens_point(double input, double sens, double power, double C)
{
return pow(sens - C / input, 1 / power) / input;
}
};
template <bool Gain> struct power;
template <>
struct power<LEGACY> : power_base {
double cap = DBL_MAX;
power(const accel_args& args) :
power_base(args)
{
switch (args.cap_mode){
case cap_mode::io:
cap = args.cap.y;
break;
case cap_mode::in:
if (args.cap.x > 0) cap = base_fn(args.cap.x, args);
break;
case cap_mode::out:
default:
if (args.cap.y > 0) cap = args.cap.y;
break;
}
}
double operator()(double speed, const accel_args& args) const
{
return minsd(base_fn(speed, args), cap);
}
};
template <>
struct power<GAIN> : power_base {
vec2d cap = { DBL_MAX, DBL_MAX };
double constant_b;
power(const accel_args& args) :
power_base(args)
{
switch (args.cap_mode) {
case cap_mode::io:
cap = args.cap;
break;
case cap_mode::in:
if (args.cap.x > 0) {
if (args.cap.x <= offset.x) {
cap.x = 0;
cap.y = offset.y;
constant_b = 0;
return;
}
cap.x = args.cap.x;
cap.y = gain(
args.cap.x,
args.exponent_power,
scale);
}
break;
case cap_mode::out:
default:
if (args.cap.y > 0) {
cap.x = gain_inverse(
args.cap.y,
args.exponent_power,
scale);
cap.y = args.cap.y;
}
break;
}
constant_b = integration_constant(cap.x, cap.y, base_fn(cap.x, args));
}
double operator()(double speed, const accel_args& args) const
{
if (speed < cap.x) {
return base_fn(speed, args);
}
else {
return cap.y + constant_b / speed;
}
}
static double integration_constant(double input, double gain, double output)
{
return (output - gain) * input;
}
};
}
|