bool SimpleDynamics::evolve(SECONDS dt) {
if(!is_mobile) return false;
for(int i=0;i<bodies.max_id();i++) {
Body* b = (Body*)bodies.get(i);
if(b) {
// device moves itself
Vek dp(b->velocity());
flo len = vek_dot(&dp,&dp);
if(act_err) {
dp.x += len*act_err*urnd(-0.5,0.5);
dp.y += len*act_err*urnd(-0.5,0.5);
dp.z += len*act_err*urnd(-0.5,0.5);
}
if (len > speed_lim*speed_lim) vek_mul(&dp,speed_lim/sqrt(len)); // limit velocity
vek_mul(&dp,dt);
// device is moved by walls
((SimpleBody*)b)->wall_touch = false;
if (is_walls) {
for (int j=0; j<N_WALLS; j++) {
Vek vec(b->position());
vek_sub(&vec, &walls[j]);
flo d = vek_dot(&vec, wall_normals[j]);
if (d < 0.0) {
vek_cpy(&vec, wall_normals[j]);
vek_mul(&vec, -d * K_BOUND * dt);
vek_add(&dp, &vec);
((SimpleBody*)b)->wall_touch = true;
}
}
}
// adjust the position
Vek pos(b->position());
b->moved = (dp.x||dp.y||dp.z);
vek_add(&pos,&dp);
if(parent->volume->dimensions()==2) { pos.z=0; }
// Hard floor at z=0: if the calculated pos has z < 0, reset to 0
else if(is_hard_floor && pos.z<0) { pos.z=0; b->moved=true; }
b->set_position(pos.x,pos.y,pos.z);
}
}
return true;
}
bool RadioSim::try_rx() {
return rx_error==0 || urnd(0,1) > rx_error;
}
uint64_t get_len(){
uint64_t len = (urnd() % (4096*5))+1;
return len;
}
bool RadioSim::try_tx() {
return tx_error==0 || urnd(0,1) > tx_error;
}
uint64_t get_addr(){
uint64_t base = ((uint64_t)urnd())%4;
uint64_t addr= baseranges[base] + urnd()%(4096*10);
return addr;
}
