Fix Sliderator producing very wrong velocities in some rare edge-cases.

OliBomby · Feb 10, 2025 · a6d2a93 · a6d2a93
1 parent 54d78c7
commit a6d2a93
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Showing 2 changed files with 12 additions and 2 deletions.
diff --git a/Mapping_Tools/Classes/MathUtil/BinarySearchUtil.cs b/Mapping_Tools/Classes/MathUtil/BinarySearchUtil.cs
@@ -15,6 +15,16 @@ public class BinarySearchUtil {
         /// <param name="checkFunc">Function which checks the validity of an instance of <see cref="T"/></param>
         /// <returns></returns>
         public static T ContinuousBinarySearch<T>(T lower, T upper, double epsilon, Func<T, T, double> distanceFunc, Func<T, T, T> midFunc, Func<T,bool> checkFunc) {
+            if (!checkFunc(lower) && checkFunc(upper))
+                // Bounds seem to be reversed
+                (lower, upper) = (upper, lower);
+
+            if (!checkFunc(lower))
+                return lower;
+
+            if (checkFunc(upper))
+                return upper;
+
             while (distanceFunc(lower, upper) > epsilon) {
                 var mid = midFunc(lower, upper);
 

diff --git a/Mapping_Tools/Classes/Tools/SlideratorStuff/Sliderator.cs b/Mapping_Tools/Classes/Tools/SlideratorStuff/Sliderator.cs
@@ -156,7 +156,7 @@ private double GetSpeedAtTime(double time, double epsilon) {
         private void GenerateNeurons() {
             // These values are placeholders. Experimentation has to be done to find better parameters
             const double maxOvershot = 32;  // Max error in wantedLength
-            const double epsilon = 0.01;  // Resolution for for speed differentiation
+            const double epsilon = 0.01;  // Resolution for speed differentiation
             const double deltaT = 0.02;  // Size of time step
 
             slider = new List<Neuron>();
@@ -184,7 +184,7 @@ private void GenerateNeurons() {
                     var newNeuron = new Neuron(nearestLatticePoint, time);
                     currentNeuron.Terminal = newNeuron;
 
-                    currentNeuron.WantedLength = actualLength;
+                    currentNeuron.WantedLength += actualLength;
                     slider.Add(currentNeuron);
 
                     currentNeuron = newNeuron;