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, ReefscapeAlgaeOnField, ReefscapeCoralAlgaeStack, ReefscapeCoralOnField

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).

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static final record	GamePieceOnFieldSimulation.GamePieceInfo	Stores the info of a type of game piece

Field Summary

Fields

Modifier and Type	Field	Description
static final double	COEFFICIENT_OF_FRICTION
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(GamePieceOnFieldSimulation.GamePieceInfo info, Pose2d initialPose)	Creates a Game Piece on the Field with Fixed Height.
GamePieceOnFieldSimulation(GamePieceOnFieldSimulation.GamePieceInfo info, DoubleSupplier zPositionSupplier, Pose2d initialPose, 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	onIntake(String intakeTargetGamePieceType)
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

COEFFICIENT_OF_FRICTION

public static final double COEFFICIENT_OF_FRICTION

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(GamePieceOnFieldSimulation.GamePieceInfo info,
 Pose2d initialPose)

Creates a Game Piece on the Field with Fixed Height.

Parameters:

info - info about the game piece type

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

GamePieceOnFieldSimulation

public GamePieceOnFieldSimulation(GamePieceOnFieldSimulation.GamePieceInfo info,
 DoubleSupplier zPositionSupplier,
 Pose2d initialPose,
 Translation2d initialVelocityMPS)

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

Parameters:

info - info about the game piece type

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

initialPose - 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

onIntake

public void onIntake(String intakeTargetGamePieceType)