Package org.ironmaple.simulation.gamepieces

Class GamePieceOnFieldSimulation

java.lang.Object

org.dyn4j.collision.AbstractCollisionBody<org.dyn4j.dynamics.BodyFixture>

org.dyn4j.dynamics.AbstractPhysicsBody

org.dyn4j.dynamics.Body

org.ironmaple.simulation.gamepieces.GamePieceOnFieldSimulation

All Implemented Interfaces:

org.dyn4j.collision.CollisionBody<org.dyn4j.dynamics.BodyFixture>, org.dyn4j.DataContainer, org.dyn4j.dynamics.PhysicsBody, org.dyn4j.geometry.Rotatable, org.dyn4j.geometry.Shiftable, org.dyn4j.geometry.Transformable, org.dyn4j.geometry.Translatable, org.dyn4j.Ownable

Direct Known Subclasses:

CrescendoNoteOnField

public class GamePieceOnFieldSimulation
extends org.dyn4j.dynamics.Body

Simulates a Game Piece on the Field.

This class simulates a game piece on the field, which has a collision space and interacts with other objects.

Game pieces can be "grabbed" by an IntakeSimulation.

For the simulation to actually run, every instance must be added to a SimulatedArena through SimulatedArena.addGamePiece(GamePieceOnFieldSimulation).

Field Summary

Fields

Modifier and Type	Field	Description
static final double	ANGULAR_DAMPING
static final double	COEFFICIENT_OF_FRICTION
static final double	COEFFICIENT_OF_RESTITUTION
static final double	LINEAR_DAMPING
static final double	MINIMUM_BOUNCING_VELOCITY
final String	type	The Type of the Game Piece.

Fields inherited from class org.dyn4j.dynamics.AbstractPhysicsBody

angularDamping, angularVelocity, atRest, atRestDetectionEnabled, atRestTime, bullet, force, forces, gravityScale, linearDamping, linearVelocity, mass, torque, torques

Fields inherited from class org.dyn4j.collision.AbstractCollisionBody

enabled, fixtureModificationHandler, fixtures, fixturesUnmodifiable, owner, radius, transform, transform0, userData

Fields inherited from interface org.dyn4j.collision.CollisionBody

TYPICAL_FIXTURE_COUNT

Fields inherited from interface org.dyn4j.dynamics.PhysicsBody

DEFAULT_ANGULAR_DAMPING, DEFAULT_LINEAR_DAMPING

Constructor Summary

Constructors

Constructor	Description
GamePieceOnFieldSimulation(String type, org.dyn4j.geometry.Convex shape, double gamePieceHeight, double mass, Translation2d initialPosition)	Creates a Game Piece on the Field with Fixed Height.
GamePieceOnFieldSimulation(String type, org.dyn4j.geometry.Convex shape, DoubleSupplier zPositionSupplier, double mass, Translation2d initialPosition, Translation2d initialVelocityMPS)	Creates a Game Piece on the Field with Custom Height Supplier and Initial Velocity.

Method Summary

Modifier and Type	Method	Description
Pose3d	getPose3d()	Obtains a 3d pose of the game piece.
Pose2d	getPoseOnField()	Obtains the 2d position of the game piece
void	setVelocity(ChassisSpeeds chassisSpeedsWorldFrame)	Sets the world velocity of this game piece.

Methods inherited from class org.dyn4j.dynamics.AbstractPhysicsBody

accumulate, addFixture, addFixture, addFixture, applyForce, applyForce, applyForce, applyImpulse, applyImpulse, applyImpulse, applyTorque, applyTorque, clearAccumulatedForce, clearAccumulatedTorque, clearForce, clearTorque, computeSweptAABB, computeSweptAABB, createSweptAABB, createSweptAABB, getAccumulatedForce, getAccumulatedTorque, getAngularDamping, getAngularVelocity, getChangeInOrientation, getChangeInPosition, getForce, getGravityScale, getLinearDamping, getLinearVelocity, getLinearVelocity, getLocalCenter, getMass, getTorque, getWorldCenter, integratePosition, integrateVelocity, isAtRest, isAtRestDetectionEnabled, isBullet, isDynamic, isKinematic, isStatic, removeAllFixtures, removeFixture, removeFixture, removeFixture, removeFixtures, setAngularDamping, setAngularVelocity, setAtRest, setAtRestDetectionEnabled, setBullet, setEnabled, setGravityScale, setLinearDamping, setLinearVelocity, setLinearVelocity, setMass, setMass, setMassType, toString, updateAtRestTime, updateMass

Methods inherited from class org.dyn4j.collision.AbstractCollisionBody

addFixture, computeAABB, computeAABB, contains, containsFixture, createAABB, createAABB, getFixture, getFixture, getFixtureCount, getFixtureIterator, getFixtureModificationHandler, getFixtures, getFixtures, getLocalPoint, getLocalVector, getOwner, getPreviousTransform, getRotationDiscRadius, getTransform, getUserData, getWorldPoint, getWorldVector, isEnabled, rotate, rotate, rotate, rotate, rotate, rotate, rotateAboutCenter, setFixtureModificationHandler, setOwner, setRotationDiscRadius, setTransform, setUserData, shift, translate, translate, translateToOrigin

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Methods inherited from interface org.dyn4j.collision.CollisionBody

addFixture, addFixture, computeAABB, computeAABB, contains, containsFixture, createAABB, createAABB, getFixture, getFixture, getFixtureCount, getFixtureIterator, getFixtureModificationHandler, getFixtures, getFixtures, getLocalCenter, getLocalPoint, getLocalVector, getPreviousTransform, getRotationDiscRadius, getTransform, getWorldCenter, getWorldPoint, getWorldVector, isEnabled, removeAllFixtures, removeFixture, removeFixture, removeFixture, removeFixtures, rotateAboutCenter, setEnabled, setFixtureModificationHandler, setTransform, translateToOrigin

Methods inherited from interface org.dyn4j.DataContainer

getUserData, setUserData

Methods inherited from interface org.dyn4j.Ownable

getOwner, setOwner

Methods inherited from interface org.dyn4j.dynamics.PhysicsBody

addFixture, addFixture, applyForce, applyForce, applyForce, applyImpulse, applyImpulse, applyImpulse, applyTorque, applyTorque, clearAccumulatedForce, clearAccumulatedTorque, clearForce, clearTorque, computeSweptAABB, computeSweptAABB, createSweptAABB, createSweptAABB, getAccumulatedForce, getAccumulatedTorque, getAngularDamping, getAngularVelocity, getChangeInOrientation, getChangeInPosition, getForce, getGravityScale, getLinearDamping, getLinearVelocity, getLinearVelocity, getMass, getTorque, integratePosition, integrateVelocity, isAtRest, isAtRestDetectionEnabled, isBullet, isDynamic, isKinematic, isStatic, setAngularDamping, setAngularVelocity, setAtRest, setAtRestDetectionEnabled, setBullet, setGravityScale, setLinearDamping, setLinearVelocity, setLinearVelocity, setMass, setMass, setMassType, updateAtRestTime, updateMass

Methods inherited from interface org.dyn4j.geometry.Rotatable

rotate, rotate, rotate, rotate, rotate, rotate

Methods inherited from interface org.dyn4j.geometry.Shiftable

shift

Methods inherited from interface org.dyn4j.geometry.Translatable

translate, translate

Field Details

LINEAR_DAMPING

public static final double LINEAR_DAMPING

See Also:

• Constant Field Values

ANGULAR_DAMPING

public static final double ANGULAR_DAMPING

See Also:

• Constant Field Values

COEFFICIENT_OF_FRICTION

public static final double COEFFICIENT_OF_FRICTION

See Also:

• Constant Field Values

COEFFICIENT_OF_RESTITUTION

public static final double COEFFICIENT_OF_RESTITUTION

See Also:

• Constant Field Values

MINIMUM_BOUNCING_VELOCITY

public static final double MINIMUM_BOUNCING_VELOCITY

See Also:

• Constant Field Values

type

public final String type

The Type of the Game Piece.

Affects the result of SimulatedArena.getGamePiecesByType(String).

Constructor Details

GamePieceOnFieldSimulation

public GamePieceOnFieldSimulation(String type,
 org.dyn4j.geometry.Convex shape,
 double gamePieceHeight,
 double mass,
 Translation2d initialPosition)

Creates a Game Piece on the Field with Fixed Height.

Parameters:

type - the type of the game piece, affecting categorization within the arena

shape - the shape of the collision space for the game piece

gamePieceHeight - the height (thickness) of the game piece, in meters

mass - the mass of the game piece, in kilograms

initialPosition - the initial position of the game piece on the field

GamePieceOnFieldSimulation

public GamePieceOnFieldSimulation(String type,
 org.dyn4j.geometry.Convex shape,
 DoubleSupplier zPositionSupplier,
 double mass,
 Translation2d initialPosition,
 Translation2d initialVelocityMPS)

Creates a Game Piece on the Field with Custom Height Supplier and Initial Velocity.

Parameters:

type - the type of the game piece, affecting categorization within the arena

shape - the shape of the collision space for the game piece

zPositionSupplier - a supplier that provides the current Z-height of the game piece

mass - the mass of the game piece, in kilograms

initialPosition - the initial position of the game piece on the field

initialVelocityMPS - the initial velocity of the game piece, in meters per second

Method Details

setVelocity

public void setVelocity(ChassisSpeeds chassisSpeedsWorldFrame)

Sets the world velocity of this game piece.

Parameters:

chassisSpeedsWorldFrame - the speeds of the game piece

getPoseOnField

public Pose2d getPoseOnField()

Obtains the 2d position of the game piece

Returns:

the 2d position of the game piece

getPose3d

public Pose3d getPose3d()

Obtains a 3d pose of the game piece.

The 3d position is calculated from both the getPoseOnField() and zPositionSupplier

Returns:

the 3d position of the game piece