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use super::{Transducer, UnitQuaternion, Vector3};
pub struct LegacyTransducer {
id: usize,
pos: Vector3,
rot: UnitQuaternion,
mod_delay: u16,
}
impl Transducer for LegacyTransducer {
type Sync = autd3_driver::SyncLegacy;
type Gain = autd3_driver::GainLegacy;
type GainSTM = autd3_driver::GainSTMLegacy;
fn new(id: usize, pos: Vector3, rot: UnitQuaternion) -> Self {
Self {
id,
pos,
rot,
mod_delay: 0,
}
}
fn position(&self) -> &Vector3 {
&self.pos
}
fn rotation(&self) -> &UnitQuaternion {
&self.rot
}
fn id(&self) -> usize {
self.id
}
fn frequency(&self) -> f64 {
40e3
}
fn mod_delay(&self) -> u16 {
self.mod_delay
}
fn set_mod_delay(&mut self, delay: u16) {
self.mod_delay = delay;
}
fn get_direction(dir: Vector3, rotation: &UnitQuaternion) -> Vector3 {
let dir: UnitQuaternion =
UnitQuaternion::from_quaternion(super::Quaternion::from_imag(dir));
(rotation * dir * rotation.conjugate()).imag().normalize()
}
fn align_phase_at(&self, dist: f64, sound_speed: f64) -> f64 {
dist * self.wavenumber(sound_speed)
}
fn x_direction(&self) -> Vector3 {
Self::get_direction(Vector3::x(), self.rotation())
}
fn y_direction(&self) -> Vector3 {
Self::get_direction(Vector3::y(), self.rotation())
}
fn z_direction(&self) -> Vector3 {
Self::get_direction(Vector3::z(), self.rotation())
}
fn wavelength(&self, sound_speed: f64) -> f64 {
sound_speed / self.frequency()
}
fn wavenumber(&self, sound_speed: f64) -> f64 {
2.0 * std::f64::consts::PI * self.frequency() / sound_speed
}
}