org.jtrfp.trcl.beh.phy.RotationalMomentumBehavior.java Source code

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Here is the source code for org.jtrfp.trcl.beh.phy.RotationalMomentumBehavior.java

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/*******************************************************************************
 * This file is part of TERMINAL RECALL
 * Copyright (c) 2012-2014 Chuck Ritola
 * Part of the jTRFP.org project
 * All rights reserved. This program and the accompanying materials
 * are made available under the terms of the GNU Public License v3.0
 * which accompanies this distribution, and is available at
 * http://www.gnu.org/licenses/gpl.html
 * 
 * Contributors:
 *     chuck - initial API and implementation
 ******************************************************************************/
package org.jtrfp.trcl.beh.phy;

import org.apache.commons.math3.exception.MathIllegalArgumentException;
import org.apache.commons.math3.geometry.euclidean.threed.Rotation;
import org.jtrfp.trcl.beh.Behavior;
import org.jtrfp.trcl.obj.WorldObject;

public class RotationalMomentumBehavior extends Behavior {
    private double equatorialMomentum = 0;//Axis is getTop()
    private double polarMomentum = 0;//Axis is getHeading().crossProduct(getTop())
    private double lateralMomentum = 0;//Axis is getHeading()

    @Override
    public void _tick(long tickTimeInMillis) {
        final WorldObject p = getParent();
        Rotation rot;
        try {
            rot = new Rotation(p.getTop(), equatorialMomentum);
            p.setHeading(rot.applyTo(p.getHeading()));
            rot = new Rotation(p.getHeading().crossProduct(p.getTop()), polarMomentum);
            p.setHeading(rot.applyTo(p.getHeading()));
            p.setTop(rot.applyTo(p.getTop()));
            rot = new Rotation(p.getHeading(), lateralMomentum);
            p.setTop(rot.applyTo(p.getTop()));
        } catch (MathIllegalArgumentException e) {
        }
    }//end _tick(....)

    /**
     * @return the equatorialMomentum
     */
    public double getEquatorialMomentum() {
        return equatorialMomentum;
    }

    /**
     * @param equatorialMomentum the equatorialMomentum to set
     */
    public RotationalMomentumBehavior setEquatorialMomentum(double equatorialMomentum) {
        this.equatorialMomentum = equatorialMomentum;
        return this;
    }

    public RotationalMomentumBehavior accellerateEquatorialMomentum(double delta) {
        equatorialMomentum += delta;
        return this;
    }

    /**
     * @return the polarMomentum
     */
    public double getPolarMomentum() {
        return polarMomentum;
    }

    //    public void accelleratePolarMomentum(double delta){pMomentum+=delta;}
    /**
     * @param polarMomentum the polarMomentum to set
     */
    public RotationalMomentumBehavior setPolarMomentum(double polarMomentum) {
        this.polarMomentum = polarMomentum;
        return this;
    }

    public RotationalMomentumBehavior accelleratePolarMomentum(double delta) {
        polarMomentum += delta;
        return this;
    }

    /**
     * @return the lateralMomentum
     */
    public double getLateralMomentum() {
        return lateralMomentum;
    }

    public RotationalMomentumBehavior accellerateLateralMomentum(double delta) {
        lateralMomentum += delta;
        return this;
    }

    /**
     * @param lateralMomentum the lateralMomentum to set
     */
    public RotationalMomentumBehavior setLateralMomentum(double lateralMomentum) {
        this.lateralMomentum = lateralMomentum;
        return this;
    }
}