org.vizzini.math
Interface IDynamicState

All Superinterfaces:

Cloneable, IState, Serializable

All Known Implementing Classes:

DynamicState

public interface IDynamicState
extends IState

Defines methods required by a dynamic state of an object. The orientation and position relate object coordinates to world coordinates. Units should be consistent: mass, length, time. Typically acelerations are the only inputs, both for position and orientation, using the addXAcceleration() methods.

Since:

v0.2

Version:

v0.3

Author:

Jeffrey M. Thompson

Method Summary

void	addAcceleration(Vector acceleration) Add a positional acceleration.
void	addAngularAcceleration(Quaternion angularAcceleration) Add an angular acceleration.
void	addMassAcceleration(double massAcceleration) Add a mass velocity rate of change.
void	applyForce(Vector force) Apply the given force through the center of mass to this object.
void	applyForce(Vector force, Vector position) Apply the given force at the given position to this object.
void	applyForceLocal(Vector force, Vector position) Apply the given force at the given position to this object where these vectors are expressed in local coordinates.
Vector	getAcceleration() Return the acceleration in length time^-2 units.
Quaternion	getAngularAcceleration() Return the angular acceleration in radians time^-2 units.
Quaternion	getAngularVelocity() Return the angular velocity in radians time^-1 units.
double	getMass() Return the mass in mass units.
double	getMassAcceleration() Return the mass velocity rate of change in mass time^-2 units.
double	getMassVelocity() Return the mass rate of change in mass time^-1 units.
double[]	getMomentOfInertia() Return the moment of inertia in mass length^2 units.
Vector	getVelocity() Return the velocity in length time^-1 units.
void	setAcceleration(Vector acceleration) Set the acceleration.
void	setAngularAcceleration(Quaternion angularAcceleration) Set the angular acceleration.
void	setAngularVelocity(Quaternion angularVelocity) Set the angular velocity.
void	setMass(double mass) Set the mass.
void	setMassAcceleration(double massAcceleration) Set the mass velocity rate of change.
void	setMassVelocity(double massVelocity) Set the mass rate of change.
void	setMomentOfInertia(double[] momentOfInertia) Set the moment of inertia.
void	setVelocity(Vector velocity) Set the velocity.
String	toString() Return a string representation of this object.
void	zeroAcceleration() Zero the acceleration.
void	zeroAngularAcceleration() Zero the angular acceleration.
void	zeroAngularMotion() Zero all angular motion.
void	zeroMassAcceleration() Zero the mass acceleration.
void	zeroMotion() Zero all motion.
void	zeroTranslationalMotion() Zero all translational motion.

Methods inherited from interface org.vizzini.math.IState

clone, convertLocalToWorld, convertWorldToLocal, getOrientation, getPosition, getPreviousPosition, move, orientLocalToWorld, orientWorldToLocal, rotate, setOrientation, setPosition

Method Detail

addAcceleration

void addAcceleration(Vector acceleration)

Add a positional acceleration.

Parameters:

acceleration - Acceleration vector in length time^-2 units.

Since:

v0.2

addAngularAcceleration

void addAngularAcceleration(Quaternion angularAcceleration)

Add an angular acceleration.

Parameters:

angularAcceleration - Angular acceleration in radians time^-2 units.

Since:

v0.2

addMassAcceleration

void addMassAcceleration(double massAcceleration)

Add a mass velocity rate of change.

Parameters:

massAcceleration - Mass acceleration in mass time^-2 units.

Since:

v0.3

applyForce

void applyForce(Vector force)

Apply the given force through the center of mass to this object.

Parameters:

force - Force vector in world coordinates in mass length time^-2 units.

Since:

v0.2

applyForce

void applyForce(Vector force,
                Vector position)

Apply the given force at the given position to this object.

Parameters:

force - Force vector in world coordinates in mass length time^-2 units.

position - Position of applied force relative to the center of mass in world coordinates in length units.

Since:

v0.2

applyForceLocal

void applyForceLocal(Vector force,
                     Vector position)

Apply the given force at the given position to this object where these vectors are expressed in local coordinates.

Parameters:

force - Force vector in local coordinates in mass length time^-2 units.

position - Position of applied force relative to the center of mass in local coordinates in length units.

Since:

v0.2

getAcceleration

Vector getAcceleration()

Return the acceleration in length time^-2 units.

Since:

v0.2

getAngularAcceleration

Quaternion getAngularAcceleration()

Return the angular acceleration in radians time^-2 units.

Since:

v0.2

getAngularVelocity

Quaternion getAngularVelocity()

Return the angular velocity in radians time^-1 units.

Since:

v0.2

getMass

double getMass()

Return the mass in mass units.

Since:

v0.2

getMassAcceleration

double getMassAcceleration()

Return the mass velocity rate of change in mass time^-2 units.

Since:

v0.3

getMassVelocity

double getMassVelocity()

Return the mass rate of change in mass time^-1 units.

Since:

v0.2

getMomentOfInertia

double[] getMomentOfInertia()

Return the moment of inertia in mass length^2 units.

Since:

v0.2

getVelocity

Vector getVelocity()

Return the velocity in length time^-1 units.

Since:

v0.2

setAcceleration

void setAcceleration(Vector acceleration)

Set the acceleration.

Parameters:

acceleration - Acceleration vector in length time^-2 units.

Since:

v0.2

setAngularAcceleration

void setAngularAcceleration(Quaternion angularAcceleration)

Set the angular acceleration.

Parameters:

angularAcceleration - Angular acceleration in radians time^-2 units.

Since:

v0.2

setAngularVelocity

void setAngularVelocity(Quaternion angularVelocity)

Set the angular velocity.

Parameters:

angularVelocity - Angular velocity in radians time^-1 units.

Since:

v0.2

setMass

void setMass(double mass)

Set the mass.

Parameters:

mass - Mass in mass units.

Since:

v0.2

setMassAcceleration

void setMassAcceleration(double massAcceleration)

Set the mass velocity rate of change.

Parameters:

massAcceleration - Mass velocity rate of change in mass time^-2 units.

Since:

v0.3

setMassVelocity

void setMassVelocity(double massVelocity)

Set the mass rate of change.

Parameters:

massVelocity - Mass velocity in mass time^-1 units.

Since:

v0.2

setMomentOfInertia

void setMomentOfInertia(double[] momentOfInertia)

Set the moment of inertia.

Parameters:

momentOfInertia - Moment of intertia in mass length^2 units.

Since:

v0.2

setVelocity

void setVelocity(Vector velocity)

Set the velocity.

Parameters:

velocity - Velocity vector in length time^-1 units.

Since:

v0.2

toString

String toString()

Return a string representation of this object.

Overrides:

toString in class Object

Since:

v0.2

zeroAcceleration

void zeroAcceleration()

Zero the acceleration.

Since:

v0.3

zeroAngularAcceleration

void zeroAngularAcceleration()

Zero the angular acceleration.

Since:

v0.3

zeroAngularMotion

void zeroAngularMotion()

Zero all angular motion.

Since:

v0.2

zeroMassAcceleration

void zeroMassAcceleration()

Zero the mass acceleration.

Since:

v0.3

zeroMotion

void zeroMotion()

Zero all motion.

Since:

v0.2

zeroTranslationalMotion

void zeroTranslationalMotion()

Zero all translational motion.

Since:

v0.2