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3a47ce9383 ... 8ab8af992a

3 changed files with 25 additions and 44 deletions
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12
src/forces.zig
View file

@ -34,9 +34,9 @@ pub fn drag(
velocity: vec3.Vec3F64,
) vec3.Vec3F64 {
return .init(
-velocity.x() * drag_coefficient,
-velocity.y() * drag_coefficient,
-velocity.z() * drag_coefficient,
velocity.x() * drag_coefficient,
velocity.y() * drag_coefficient,
velocity.z() * drag_coefficient,
);
}
@ -73,7 +73,7 @@ test "drag is correct" {
const velocity = vec3.Vec3F64.init(0, 1, 1);
const f_drag = drag(0.5, velocity);
try std.testing.expectApproxEqAbs(-0.0, f_drag.x(), 1e-11);
try std.testing.expectApproxEqAbs(-0.5, f_drag.y(), 1e-11);
try std.testing.expectApproxEqAbs(-0.5, f_drag.z(), 1e-11);
try std.testing.expectApproxEqAbs(0, f_drag.x(), 1e-11);
try std.testing.expectApproxEqAbs(0.5, f_drag.y(), 1e-11);
try std.testing.expectApproxEqAbs(0.5, f_drag.z(), 1e-11);
}

23
src/integration.zig
View file

@ -28,14 +28,14 @@ pub fn timestep(dt: f64, d: drone.Drone, props: []const drone.Propeller, s: *dro
);
s.omega = vec3.vec3Add(s.omega, vec3.vec3Scale(omega_dot, dt));
const half_omega_quat: vec3.QuatF64 = .init(
const half_omege_quat: vec3.QuatF64 = .init(
s.omega.x() * 0.5,
s.omega.y() * 0.5,
s.omega.z() * 0.5,
0,
);
const qdot = vec3.quatMul(half_omega_quat, s.q);
const qdot = vec3.quatMul(half_omege_quat, s.q);
s.q = vec3.quatAdd(s.q, vec3.quatScale(qdot, dt)).normalized();
return;
}
@ -85,23 +85,4 @@ test "Validate timesteps" {
try std.testing.expectApproxEqAbs(0.12403234937465502, state.q.y(), 1e-12);
try std.testing.expectApproxEqAbs(0.006201617468732751, state.q.z(), 1e-11);
try std.testing.expectApproxEqAbs(0.9922587949972401, state.q.w(), 1e-11);
timestep(0.005, d, &props, &state);
try std.testing.expectApproxEqAbs(-1.23072190e+01, state.v.x(), 1e-7);
try std.testing.expectApproxEqAbs(-7.69201185e-02, state.v.y(), 1e-8);
try std.testing.expectApproxEqAbs(-9.83635311e+01, state.v.z(), 1e-7);
try std.testing.expectApproxEqAbs(-6.15360950e-02, state.x_cg.x(), 1e-9);
try std.testing.expectApproxEqAbs(-3.84600592e-04, state.x_cg.y(), 1e-9);
try std.testing.expectApproxEqAbs(-7.41572489e-01, state.x_cg.z(), 1e-9);
try std.testing.expectApproxEqAbs(-0.46875, state.omega.x(), 1e-12);
try std.testing.expectApproxEqAbs(100, state.omega.y(), 1e-12);
try std.testing.expectApproxEqAbs(5, state.omega.z(), 1e-11);
try std.testing.expectApproxEqAbs(-0.0011280012096230429, state.q.x(), 1e-12);
try std.testing.expectApproxEqAbs(0.36096743708693396, state.q.y(), 1e-12);
try std.testing.expectApproxEqAbs(0.01790701920276581, state.q.z(), 1e-12);
try std.testing.expectApproxEqAbs(0.9324057998744074, state.q.w(), 1e-12);
}

34
src/vec3.zig
View file

@ -90,7 +90,7 @@ pub fn mat3Mul(a: Mat3F64, b: Mat3F64) Mat3F64 {
pub fn mat3Det(a: Mat3F64) f64 {
return a.row1.x() * (a.row2.y() * a.row3.z() - a.row2.z() * a.row3.y()) -
a.row1.y() * (a.row2.x() * a.row3.z() - a.row2.z() * a.row3.x()) +
a.row1.z() * (a.row2.x() * a.row3.y() - a.row2.y() * a.row3.x());
a.row1.y() * (a.row2.x() * a.row3.y() - a.row2.y() * a.row3.x());
}
pub fn mat3Inv(a: Mat3F64) Mat3F64 {
@ -105,7 +105,7 @@ pub fn mat3Inv(a: Mat3F64) Mat3F64 {
);
const row2 = vec3Scale(
.init(
a.row2.z() * a.row3.x() - a.row2.x() * a.row3.z(),
a.row2.z() * a.row3.x() + a.row2.x() * a.row3.z(),
a.row1.x() * a.row3.z() - a.row1.z() * a.row3.x(),
a.row1.z() * a.row2.x() - a.row1.x() * a.row2.z(),
),
@ -113,7 +113,7 @@ pub fn mat3Inv(a: Mat3F64) Mat3F64 {
);
const row3 = vec3Scale(
.init(
a.row2.x() * a.row3.y() - a.row2.y() * a.row3.x(),
a.row2.x() * a.row3.y() + a.row2.y() * a.row3.x(),
a.row1.y() * a.row3.x() - a.row1.x() * a.row3.y(),
a.row1.x() * a.row2.y() - a.row1.y() * a.row2.x(),
),
@ -321,30 +321,30 @@ test "Mat3 mul works" {
test "mat determinant works" {
const a: Mat3F64 = .{
.row1 = Vec3F64.init(1, 2, 3),
.row2 = Vec3F64.init(4, 1, 5),
.row3 = Vec3F64.init(3, 1, 9),
.row2 = Vec3F64.init(0, 1, 5),
.row3 = Vec3F64.init(0, 0, 9),
};
try std.testing.expectApproxEqAbs(-35, mat3Det(a), 1e-12);
try std.testing.expectApproxEqAbs(9, mat3Det(a), 1e-12);
}
test "mat inverse works" {
const a: Mat3F64 = .{
.row1 = Vec3F64.init(1, 2, 3),
.row2 = Vec3F64.init(4, 1, 5),
.row3 = Vec3F64.init(3, 1, 9),
.row2 = Vec3F64.init(0, 1, 5),
.row3 = Vec3F64.init(0, 0, 9),
};
const ainv = mat3Inv(a);
try std.testing.expectApproxEqAbs(-4.0 / 35.0, ainv.row1.x(), 1e-12);
try std.testing.expectApproxEqAbs(3.0 / 7.0, ainv.row1.y(), 1e-12);
try std.testing.expectApproxEqAbs(-1.0 / 5.0, ainv.row1.z(), 1e-12);
try std.testing.expectApproxEqAbs(3.0 / 5.0, ainv.row2.x(), 1e-12);
try std.testing.expectApproxEqAbs(0, ainv.row2.y(), 1e-12);
try std.testing.expectApproxEqAbs(-1.0 / 5.0, ainv.row2.z(), 1e-12);
try std.testing.expectApproxEqAbs(-1.0 / 35.0, ainv.row3.x(), 1e-12);
try std.testing.expectApproxEqAbs(-1.0 / 7.0, ainv.row3.y(), 1e-12);
try std.testing.expectApproxEqAbs(1.0 / 5.0, ainv.row3.z(), 1e-12);
try std.testing.expectApproxEqAbs(1, ainv.row1.x(), 1e-12);
try std.testing.expectApproxEqAbs(-2, ainv.row1.y(), 1e-12);
try std.testing.expectApproxEqAbs(7.0 / 9.0, ainv.row1.z(), 1e-12);
try std.testing.expectApproxEqAbs(0, ainv.row2.x(), 1e-12);
try std.testing.expectApproxEqAbs(1, ainv.row2.y(), 1e-12);
try std.testing.expectApproxEqAbs(-5.0 / 9.0, ainv.row2.z(), 1e-12);
try std.testing.expectApproxEqAbs(0, ainv.row3.x(), 1e-12);
try std.testing.expectApproxEqAbs(0, ainv.row3.y(), 1e-12);
try std.testing.expectApproxEqAbs(1.0 / 9.0, ainv.row3.z(), 1e-12);
}
test "vec3 mul mat3 works" {
const b: Mat3F64 = .{