sim.physics2D.physicalObject
Class MobileObject2D

java.lang.Object
  SimplePortrayal2D
      sim.physics2D.physicalObject.PhysicalObject2D
          sim.physics2D.physicalObject.MobileObject2D

Direct Known Subclasses:

Robot

public abstract class MobileObject2D
extends PhysicalObject2D

MobileObject2D represents a physical object that can move.

Field Summary

protected double	coefficientOfFriction
protected double	coefficientOfStaticFriction
protected double	mass
protected double	massMomentOfInertia

Fields inherited from class sim.physics2D.physicalObject.PhysicalObject2D

coefficientOfRestitution, index, physicsState, shape

Constructor Summary

MobileObject2D()

Method Summary

void	addForce(Double2D force) Apply a force to the MobileObject
void	addFrictionForce() Calculates and adds the static and dynamic friction forces on the object based on the coefficients of friction.
void	addTorque(double torque) Apply a torque to the MobileObject
double	getAngularVelocity() How fast the object is rotating in radians per second.
double	getCoefficientOfFriction() Positive value representing the coefficient of friction of the object with the background surface.
double	getCoefficientOfStaticFriction() Positive value representing the coefficient of static friction of the object with the background surface.
Double2D	getForceAccumulator() Returns a vector that represents a combination of all the forces applied to it
double	getMass() Returns the object's mass
double	getMassInverse() 1 / mass.
double	getMassMomentOfInertiaInverse() 1 / massMomentOfInertia.
double	getTorqueAccumulator() Returns a number that represents a combination of all the torques applied to it
Double2D	getVelocity() Returns the object's velocity
void	resetLastPose() Move the object back to its previous location
void	restorePose() Restores an object to its current location
void	setAngularVelocity(double angularVelocity) How fast the object is rotating in radians per second.
void	setCoefficientOfFriction(double coefficientOfFriction) Positive value representing the coefficient of friction of the object with the background surface.
void	setCoefficientOfStaticFriction(double coefficientOfStaticFriction) Positive value representing the coefficient of static friction of the object with the background surface.
void	setMass(double mass) Sets an object's mass.
void	setShape(Shape shape, double mass) Set the shape of the object which determines how it is displayed, when it is colliding with another object, and how its mass moment of inertia is calculated
void	setVelocity(Double2D velocity) Updates the object's velocity
void	updatePose(double percent) Updates the pose to where the object would be in only a percentage of a time step.

Methods inherited from class sim.physics2D.physicalObject.PhysicalObject2D

draw, getCoefficientOfRestitution, getIndex, getOrientation, getPosition, getShape, handleCollision, setCoefficientOfRestitution, setIndex, setPose

Methods inherited from class java.lang.Object

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

Field Detail

coefficientOfFriction

protected double coefficientOfFriction

coefficientOfStaticFriction

protected double coefficientOfStaticFriction

mass

protected double mass

massMomentOfInertia

protected double massMomentOfInertia

Constructor Detail

MobileObject2D

public MobileObject2D()

Method Detail

getMass

public double getMass()

Returns the object's mass

setMass

public void setMass(double mass)

Sets an object's mass. The mass moment of inertia is calculated by the object's associated shape

addForce

public void addForce(Double2D force)

Apply a force to the MobileObject

addTorque

public void addTorque(double torque)

Apply a torque to the MobileObject

getCoefficientOfFriction

public double getCoefficientOfFriction()

Positive value representing the coefficient of friction of the object with the background surface. 0 is no friction

setCoefficientOfFriction

public void setCoefficientOfFriction(double coefficientOfFriction)

Positive value representing the coefficient of friction of the object with the background surface. 0 is no friction

getCoefficientOfStaticFriction

public double getCoefficientOfStaticFriction()

Positive value representing the coefficient of static friction of the object with the background surface. 0 is no static friction

setCoefficientOfStaticFriction

public void setCoefficientOfStaticFriction(double coefficientOfStaticFriction)

Positive value representing the coefficient of static friction of the object with the background surface. 0 is no static friction

setShape

public void setShape(Shape shape,
                     double mass)

Set the shape of the object which determines how it is displayed, when it is colliding with another object, and how its mass moment of inertia is calculated

updatePose

public void updatePose(double percent)

Updates the pose to where the object would be in only a percentage of a time step. Useful for searching for exact moment of collision.

Specified by:

updatePose in class PhysicalObject2D

resetLastPose

public void resetLastPose()

Move the object back to its previous location

Specified by:

resetLastPose in class PhysicalObject2D

restorePose

public void restorePose()

Restores an object to its current location

Specified by:

restorePose in class PhysicalObject2D

getVelocity

public Double2D getVelocity()

Returns the object's velocity

Specified by:

getVelocity in class PhysicalObject2D

setVelocity

public void setVelocity(Double2D velocity)

Updates the object's velocity

getAngularVelocity

public double getAngularVelocity()

How fast the object is rotating in radians per second. A positive angular velocity means the object is rotating counter clockwise

Specified by:

getAngularVelocity in class PhysicalObject2D

setAngularVelocity

public void setAngularVelocity(double angularVelocity)

How fast the object is rotating in radians per second. A positive angular velocity means the object is rotating counter clockwise

getForceAccumulator

public Double2D getForceAccumulator()

Returns a vector that represents a combination of all the forces applied to it

getTorqueAccumulator

public double getTorqueAccumulator()

Returns a number that represents a combination of all the torques applied to it

getMassInverse

public double getMassInverse()

1 / mass. Used in collision response

Specified by:

getMassInverse in class PhysicalObject2D

getMassMomentOfInertiaInverse

public double getMassMomentOfInertiaInverse()

1 / massMomentOfInertia. Used in collision response

Specified by:

getMassMomentOfInertiaInverse in class PhysicalObject2D

addFrictionForce

public void addFrictionForce()

Calculates and adds the static and dynamic friction forces on the object based on the coefficients of friction.