public class MotionTargetPanzer
extends java.lang.Object
MotionTargetPanzer
is used as a preliminary ending point of a
Panzer
's move. The reason for this is about collision.
in this momentary implementation the starting point of the movement is
also included in order to detach some collision routines from
the originating Panzer
, called inceptor
.
Modifier and Type | Class and Description |
---|---|
static class |
MotionTargetPanzer.BodySide
Enum for switching between panzer sides.
|
static class |
MotionTargetPanzer.BodyVertex |
Modifier and Type | Field and Description |
---|---|
Angle |
endOrientation |
Vector |
endPos |
Body |
inceptor
the originating
Panzer |
Angle |
omega |
Angle |
startOrientation |
Vector |
startPos |
double |
startTime |
double |
targetTime |
Vector |
velocity |
Constructor and Description |
---|
MotionTargetPanzer(Body inceptor,
Vector startPos,
Angle startOrientation,
Vector endPos,
Angle endOrientation,
Vector velocity,
Angle omega,
double startTime,
double targetTime) |
Modifier and Type | Method and Description |
---|---|
double |
calculateCenterDistance(Vector point)
Determines the minimum distance to the given point throughout the frame.
|
jrobots.simulation.simulationObjects.collision.MotionTargetPanzer.IntrusionDistanceSide |
calculateIntrusionDistance(MotionTargetPanzer collPartner,
MotionTargetPanzer.BodyVertex vertex)
Determines a collision intrusion distance for a given
MotionTargetPanzer and panzer vertex. |
void |
commitToPanzer(SimulationMode simulationMode)
applies position change
|
Vector |
getEndPos() |
Body |
getInceptor() |
public Angle endOrientation
public Vector endPos
public Body inceptor
Panzer
public Angle omega
public Angle startOrientation
public Vector startPos
public double startTime
public double targetTime
public Vector velocity
public double calculateCenterDistance(Vector point)
point
- - [m]; global axespublic jrobots.simulation.simulationObjects.collision.MotionTargetPanzer.IntrusionDistanceSide calculateIntrusionDistance(MotionTargetPanzer collPartner, MotionTargetPanzer.BodyVertex vertex)
MotionTargetPanzer
and panzer vertex. The routine only
takes the motion target's final position into consideration.collPartner
- vertex
- which vertex to calculate intrusion distance forpublic void commitToPanzer(SimulationMode simulationMode)
simulationMode
- - needed to set the terrain typepublic Vector getEndPos()
public Body getInceptor()