user init speed factor

MBprojects/PendulumSpringC/userfctR/realtime/user_realtime_options.c

@@ -26,6 +26,10 @@
  *                              back in time. When the buffers are full, they erase the oldest values with the new
  *                              ones (rotating buffer). If you put a value <= 0, the size is automatically computed
  *                              so that the buffer is big enough for the whole simulation.
+ *      * options->init_speed_factor: initial speed factor (default: 1.0)
+ *                              For speed factors equal or higher than one, this factor should be an integer.
+ *                              For speed factors in ]0;1[, this factor is set as 2^x, where x is a negative integer.
+ *                              So, if your factor does not match these requirements, it will be rounded to fulfill them.
  *
  *   * SDL plots options
  *      * options->curve_width: curves width in number of pixels (default: 3)

MBsysC/mbs_common/mbs_realtime/realtime/realtime.c

@@ -243,6 +243,8 @@ Realtime_option* init_Realtime_option()
 
     options->buffer_size = -1; ///< size of the buffer for java and sdl
 
+    options->init_speed_factor = 1.0; ///< initial speed factor
+
     // SDL plots and interactions
     options->curve_width   = 3; ///< plot curve width in number of pixels
     options->screen_width  = 660; ///< plot screen width in number of pixels
@@ -325,6 +327,12 @@ void check_user_realtime_options(Realtime_option *options)
     }
 
     // warnings generated
+    if (options->init_speed_factor <= 0.0)
+    {
+        printf("Real-time options warning: init_speed_factor (%f) <= 0.0; set to 1.0.\n", options->init_speed_factor);
+        options->init_speed_factor = 1.0;
+    }
+
     if (options->start_viewpoint < -1)
     {
         printf("Real-time options warning: start_viewpoint (%d) < -1; set to 0.\n", options->start_viewpoint);
@@ -564,14 +572,14 @@ Simu_realtime* init_simu_realtime(MbsData* mbs_data, Realtime_option *options, i
     realtime->simu_quit       = 0;           // quit the simulation
     realtime->simu_break      = options->init_break;  // break in the simulation at the beginning
     realtime->last_break      = options->final_break; // break in the simulation at the end 
-    realtime->simu_speed_flag = 0;           // normal simulation speed
+    realtime->simu_speed_flag = get_simu_speed_flag(options->init_speed_factor); // simulation speed flag
 
     // end of the simulation time (in s)
     realtime->last_tsim = tsim;
 
     // simulation speed
-    realtime->last_real_simu_speed_factor = 1.0;
-    realtime->real_simu_speed_factor      = 1.0;
+    realtime->last_real_simu_speed_factor = get_simu_speed_factor(realtime->simu_speed_flag);
+    realtime->real_simu_speed_factor      = realtime->last_real_simu_speed_factor;
 
     // constraints structure
     realtime->constraints = constraints;
@@ -694,7 +702,7 @@ void update_simu_realtime(Simu_realtime *realtime)
     realtime->next_tsim_gate   = min_next_tsim;
 }
 
-/*! \brief get fimulation factor defpending on the 'simu_speed_flag' flag
+/*! \brief get simulation factor depending on the 'simu_speed_flag' flag
  * 
  * \param[in] simu_speed_flag index used to compute the speed factor
  * \return speed factor
@@ -715,6 +723,34 @@ double get_simu_speed_factor(int simu_speed_flag)
     }
 }
 
+/*! \brief get the 'simu_speed_flag' flag depending on simulation factor
+ * 
+ * \param[in] simu_speed_factor speed factor
+ * \return index used to compute the speed factor
+ */
+int get_simu_speed_flag(double simu_speed_factor)
+{
+    double float_flag;
+
+    // safety
+    if (simu_speed_factor <= 0.0)
+    {
+        return 0;
+    }
+
+    if (simu_speed_factor >= 1.0)
+    {
+        float_flag = simu_speed_factor - 1.0;
+    }
+    else
+    {
+        float_flag = -(log(1.0/simu_speed_factor) / log(2.0));
+    }
+
+    // round to integer
+    return ((float_flag - floor(float_flag) > 0.5) ? ceil(float_flag) : floor(float_flag));
+}
+
 /*! \brief update the real-time constraints after a break
   * 
   * \param[in,out] realtime real-time structure

MBsysC/mbs_common/mbs_realtime/realtime/realtime.h

@@ -59,6 +59,8 @@ typedef struct Realtime_option
 
     int buffer_size; ///< size of the buffer for java and sdl
 
+    double init_speed_factor; ///< initial speed factor
+
     // SDL plots and interactions
     int curve_width;   ///< plot curve width in number of pixels
     int screen_width;  ///< plot screen width in number of pixels
@@ -164,6 +166,7 @@ void update_simu_realtime(Simu_realtime *realtime);
 void update_realtime_constraint(Realtime_constraint *constraint, int simu_speed_flag);
 void update_realtime_constraints_break(Simu_realtime *realtime, int delta_break_u_sec);
 double get_simu_speed_factor(int simu_speed_flag);
+int get_simu_speed_flag(double simu_speed_factor);
 
 Realtime_option* init_Realtime_option();
 void free_Realtime_option(Realtime_option *option);