gizmoball.physics
Class PhysicsSphere

java.lang.Object
  gizmoball.physics.PhysicsSphere

All Implemented Interfaces:

PhysicsObject, PrimitivesCollection

public class PhysicsSphere
extends java.lang.Object
implements PhysicsObject

A PhysicsSphere is a wrapper class for a three dimensional representation of a sphere.

Specification Fields :

sphere : Sphere // the sphere that is wrapped in this

Constructor Summary

PhysicsSphere(Vect3 center, double radius, double mass, double reflectionCoeff, Vect3 velocity)
Creates a new PhysicsSphere without rotation or texture

PhysicsSphere(Vect3 center, double radius, double mass, double reflectionCoeff, Vect3 velocity, java.lang.String texture)
Creates a new PhysicsSphere without rotation

PhysicsSphere(Vect3 center, double radius, double mass, double reflectionCoeff, Vect3 rotCenter, Vect3 rotOmega, Vect3 velocity)
Creates a new PhysicsSphere without texture

PhysicsSphere(Vect3 center, double radius, double mass, double reflectionCoeff, Vect3 rotCenter, Vect3 rotOmega, Vect3 velocity, java.lang.String texture)
Creates a new PhysicsSphere

Method Summary

boolean	containsPoint(Vect3 p) Returns whether p is in this.
Vect3	getBCenter()
Vect3Pair	getBoundingBox()
double	getBRadius()
java.util.Collection<LateralCylinder>	getLateralCylinders()
double	getMass()
java.util.Collection<PlaneCircle>	getPlaneCircles()
java.util.Collection<PlanePolygon>	getPlanePolygons()
Vect3	getPosition()
double	getReflectionCoeff()
Vect3	getRotCenter()
Vect3	getRotOmega()
Sphere	getSphere()
java.util.Collection<Sphere>	getSpheres()
java.util.Collection<Torus>	getTori()
Vect3	getVelocity()
double	minDistanceToObjectFromP(Vect3 p) Returns the minimum distance from p to this
Vect3	reflect(PhysicsSphere ps)
void	rotateAboutAxis(Vect3 center, Vect3 axis, double angle)
void	setMass(double mass)
void	setPosition(Vect3 pos)
void	setReflectionCoeff(double rc)
void	setRotCenter(Vect3 rc)
void	setRotOmega(Vect3 ro)
void	setVelocity(Vect3 vel)
double	timeUntilCollision(PhysicsSphere ball, double lookahead) Returns the time until a collision between ball and this
void	update(double timestep) Updates the state of this after the passage of timestep.

Methods inherited from class java.lang.Object

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

Constructor Detail

PhysicsSphere

public PhysicsSphere(Vect3 center,
                     double radius,
                     double mass,
                     double reflectionCoeff,
                     Vect3 rotCenter,
                     Vect3 rotOmega,
                     Vect3 velocity,
                     java.lang.String texture)

Creates a new PhysicsSphere

Parameters:

center - the center of the sphere

radius - the radius of the sphere

mass - the mass of the sphere

reflectionCoeff - the coefficient of reflection of the sphere

rotCenter - the center of rotation of the sphere

rotOmega - the angular velocity of the sphere

velocity - the velocity of rotCenter

texture - the texture of the torus

Requires:

(center != null) && (radius != null) && (rotCenter != null) && (rotOmega != null) && (velocity != null) && (mass >= 0) && (0 <= reflectionCoeff <= 1)

Effects:

Creates a new PhysicsSphere ps with the desired parameters such that: ps.sphere.center = center && ps.sphere.radius = radius && ps.mass = mass && ps.reflectionCoeff = reflectionCoeff && ps.rotCenter = rotCenter && ps.rotOmega = rotOmega && ps.velocity = velocity && ps.bcenter = center && ps.bradius = radius + 0.1

PhysicsSphere

public PhysicsSphere(Vect3 center,
                     double radius,
                     double mass,
                     double reflectionCoeff,
                     Vect3 rotCenter,
                     Vect3 rotOmega,
                     Vect3 velocity)

Creates a new PhysicsSphere without texture

Parameters:

center - the center of the sphere

radius - the radius of the sphere

mass - the mass of the sphere

reflectionCoeff - the coefficient of reflection of the sphere

rotCenter - the center of rotation of the sphere

rotOmega - the angular velocity of the sphere

velocity - the velocity of rotCenter

Requires:

(center != null) && (radius != null) && (rotCenter != null) && (rotOmega != null) && (velocity != null) && (mass >= 0) && (0 <= reflectionCoeff <= 1)

Effects:

Creates a new PhysicsSphere ps with the desired parameters such that: ps.sphere.center = center && ps.sphere.radius = radius && ps.mass = mass && ps.reflectionCoeff = reflectionCoeff && ps.rotCenter = rotCenter && ps.rotOmega = rotOmega && ps.velocity = velocity && ps.bcenter = center && ps.bradius = radius + 0.1

PhysicsSphere

public PhysicsSphere(Vect3 center,
                     double radius,
                     double mass,
                     double reflectionCoeff,
                     Vect3 velocity,
                     java.lang.String texture)

Creates a new PhysicsSphere without rotation

Effects:

Creates a new PhysicsSphere with the desired parameters such that: rotCenter = center && rotOmega = Vect3.ZERO

PhysicsSphere

public PhysicsSphere(Vect3 center,
                     double radius,
                     double mass,
                     double reflectionCoeff,
                     Vect3 velocity)

Creates a new PhysicsSphere without rotation or texture

Effects:

Creates a new PhysicsSphere with the desired parameters such that: rotCenter = center && rotOmega = Vect3.ZERO

Method Detail

containsPoint

public boolean containsPoint(Vect3 p)

Description copied from interface: PhysicsObject

Returns whether p is in this.

Specified by:

containsPoint in interface PhysicsObject

Returns:

true if true if Vect3.isAbout(this.minDistanceToObjectFromP(p),0), false otherwise

getBCenter

public Vect3 getBCenter()

Specified by:

getBCenter in interface PhysicsObject

Returns:

this.bcenter

getBRadius

public double getBRadius()

Specified by:

getBRadius in interface PhysicsObject

Returns:

this.bradius

getMass

public double getMass()

Specified by:

getMass in interface PhysicsObject

Returns:

this.mass

getPosition

public Vect3 getPosition()

Specified by:

getPosition in interface PhysicsObject

Returns:

this.position

getRotCenter

public Vect3 getRotCenter()

Specified by:

getRotCenter in interface PhysicsObject

Returns:

this.rotCenter

getRotOmega

public Vect3 getRotOmega()

Specified by:

getRotOmega in interface PhysicsObject

Returns:

this.rotOmega

getVelocity

public Vect3 getVelocity()

Specified by:

getVelocity in interface PhysicsObject

Returns:

this.velocity

getReflectionCoeff

public double getReflectionCoeff()

Specified by:

getReflectionCoeff in interface PhysicsObject

Returns:

this.reflectionCoeff

getSphere

public Sphere getSphere()

Returns:

this.sphere

minDistanceToObjectFromP

public double minDistanceToObjectFromP(Vect3 p)

Description copied from interface: PhysicsObject

Returns the minimum distance from p to this

Specified by:

minDistanceToObjectFromP in interface PhysicsObject

Returns:

the minimum distance between p and this

Requires:

p != null

reflect

public Vect3 reflect(PhysicsSphere ps)

Specified by:

reflect in interface PhysicsObject

Returns:

the velocity of the ball after impacting the given sphere

Effects:

computes the new velocity of a ball reflecting off of a sphere. The velocity resulting from this method corresponds to a collision against a surface with the reflection coefficient of this. A reflection coefficient of 1 indicates a perfectly elastic collision. This method assumes that the ball is at the point of impact.

setMass

public void setMass(double mass)

Specified by:

setMass in interface PhysicsObject

Requires:

mass >= 0

Effects:

this.mass = mass

setPosition

public void setPosition(Vect3 pos)

Specified by:

setPosition in interface PhysicsObject

Requires:

pos != null

Effects:

this.position = pos

setRotCenter

public void setRotCenter(Vect3 rc)

Specified by:

setRotCenter in interface PhysicsObject

Requires:

rc != null

Effects:

this.rotCenter = rc

setRotOmega

public void setRotOmega(Vect3 ro)

Specified by:

setRotOmega in interface PhysicsObject

Requires:

ro != null

Effects:

this.rotOmega = ro

setVelocity

public void setVelocity(Vect3 vel)

Specified by:

setVelocity in interface PhysicsObject

Requires:

vel != null

Effects:

this.velocity = vel

setReflectionCoeff

public void setReflectionCoeff(double rc)

Specified by:

setReflectionCoeff in interface PhysicsObject

Requires:

0 <= rc <= 1

Effects:

this.reflectionCoeff = rc

rotateAboutAxis

public void rotateAboutAxis(Vect3 center,
                            Vect3 axis,
                            double angle)

Specified by:

rotateAboutAxis in interface PhysicsObject

update

public void update(double timestep)

Updates the state of this after the passage of timestep.

Specified by:

update in interface PhysicsObject

Requires:

timestep >= 0

Effects:

this.rotCenter_post = this.rotCenter_pre + this.velocity * timestep this.position_post = this.rotCenter_post + this.rotOmega x (this.position_pre - this.rotCenter_pre)* timestep

timeUntilCollision

public double timeUntilCollision(PhysicsSphere ball,
                                 double lookahead)

Returns the time until a collision between ball and this

Specified by:

timeUntilCollision in interface PhysicsObject

Returns:

the time until collision or POSITIVE_INFINITY if the collision will not occur

Effects:

computes the time until ball and this, travelling at their current specified velocities, collide. If no collision will occur POSITIVE_INFINITY is returned. This method assumes that both objects will travel at constant velocity until impact.

getPlanePolygons

public java.util.Collection<PlanePolygon> getPlanePolygons()

Specified by:

getPlanePolygons in interface PrimitivesCollection

Returns:

this.planePolygons

getPlaneCircles

public java.util.Collection<PlaneCircle> getPlaneCircles()

Specified by:

getPlaneCircles in interface PrimitivesCollection

Returns:

this.planeCircles

getSpheres

public java.util.Collection<Sphere> getSpheres()

Specified by:

getSpheres in interface PrimitivesCollection

Returns:

this.spheres

getLateralCylinders

public java.util.Collection<LateralCylinder> getLateralCylinders()

Specified by:

getLateralCylinders in interface PrimitivesCollection

Returns:

this.lateralCylinders

getTori

public java.util.Collection<Torus> getTori()

Specified by:

getTori in interface PrimitivesCollection

Returns:

this.torii

getBoundingBox

public Vect3Pair getBoundingBox()

Specified by:

getBoundingBox in interface PhysicsObject

Returns:

a bounding box consisting of one Vect3 with smaller coordinates and one Vect3 with larger coordinates