Examples with Movement spacesettlers.utilities.Movement used on opensource projects

Example 16 with Movement

use of spacesettlers.utilities.Movement in project spacesettlers by amymcgovern.

the class TestMoveActionWithOrientation method testpdControlMoveToAlongY.

/**
 * Test moving to the goal along the y dimension
 * (50, 40)
 * (50, 50)
 * (50,60)
 *
 * @throws SpaceSettlersActionException
 */
@Test
public void testpdControlMoveToAlongY() throws SpaceSettlersActionException {
    // first positive y (50, 60)
    Position currentLoc = new Position(50, 50);
    Position goalLoc = new Position(50, 60);
    currentLoc.setOrientation(Math.PI / 2);
    moveAction = new MoveActionWithOrientation();
    Vector2D accel = moveAction.pdControlMoveToGoal(space, goalLoc, currentLoc, targetVelocity);
    Movement movement = new Movement();
    while (accel.getMagnitude() > MoveAction.TARGET_REACHED_ACCEL) {
        movement.setTranslationalAcceleration(accel);
        currentLoc = space.applyMovement(currentLoc, movement, timestep);
        accel = moveAction.pdControlMoveToGoal(space, goalLoc, currentLoc, targetVelocity);
    }
    assertEquals(currentLoc.getOrientation(), Math.PI / 2, 0.01);
    assertEquals(currentLoc.getX(), 50, 0.05);
    assertEquals(currentLoc.getY(), 60, 0.05);
    // then to the negative y
    currentLoc = new Position(50, 50);
    currentLoc.setOrientation(0);
    goalLoc = new Position(50, 40);
    currentLoc.setOrientation(-Math.PI / 2);
    accel = moveAction.pdControlMoveToGoal(space, goalLoc, currentLoc, targetVelocity);
    while (accel.getMagnitude() > MoveAction.TARGET_REACHED_ACCEL) {
        movement.setTranslationalAcceleration(accel);
        currentLoc = space.applyMovement(currentLoc, movement, timestep);
        accel = moveAction.pdControlMoveToGoal(space, goalLoc, currentLoc, targetVelocity);
    }
    assertEquals(currentLoc.getOrientation(), -Math.PI / 2, 0.01);
    assertEquals(currentLoc.getX(), 50, 0.05);
    assertEquals(currentLoc.getY(), 40, 0.05);
}

Example 17 with Movement

use of spacesettlers.utilities.Movement in project spacesettlers by amymcgovern.

the class TestToroidal2DPhysics method testApplyMovementTurnAndMoveFromStop.

@Test
public void testApplyMovementTurnAndMoveFromStop() {
    Movement movement = new Movement();
    movement.setAngularAccleration(Math.PI / 60);
    movement.setTranslationalAcceleration(new Vector2D(10, 10));
    position.setOrientation(Math.PI / 4);
    double expectedOrientation = (Math.PI / 4) + (Math.PI / 60);
    double expectedX = 10;
    double expectedY = 10;
    Position newPosition = space.applyMovement(position, movement, timestep);
    assertEquals(newPosition.getX(), expectedX, 0.01);
    assertEquals(newPosition.getY(), expectedY, 0.01);
    assertEquals(newPosition.getOrientation(), expectedOrientation, 0.01);
    assertEquals(newPosition.getAngularVelocity(), Math.PI / 60, 0.01);
    assertEquals(newPosition.getTranslationalVelocityX(), 10, 0.01);
    assertEquals(newPosition.getTranslationalVelocityY(), 10, 0.01);
}

Example 18 with Movement

use of spacesettlers.utilities.Movement in project spacesettlers by amymcgovern.

the class TestToroidal2DPhysics method testApplyTranslationalMovementHorizontalFromStop.

@Test
public void testApplyTranslationalMovementHorizontalFromStop() {
    Movement movement = new Movement();
    movement.setAngularAccleration(0);
    movement.setTranslationalAcceleration(new Vector2D(10, 0));
    double expectedX = 10;
    double expectedY = 0;
    Position newPosition = space.applyMovement(position, movement, timestep);
    assertEquals(newPosition.getX(), expectedX, 0.01);
    assertEquals(newPosition.getY(), expectedY, 0.01);
    assertEquals(newPosition.getOrientation(), 0, 0.01);
    assertEquals(newPosition.getAngularVelocity(), 0, 0.01);
    assertEquals(newPosition.getTranslationalVelocityX(), 10, 0.01);
    assertEquals(newPosition.getTranslationalVelocityY(), 0, 0.01);
}

Example 19 with Movement

use of spacesettlers.utilities.Movement in project spacesettlers by amymcgovern.

the class TestToroidal2DPhysics method testApplyOrientationMoveFromTurning.

@Test
public void testApplyOrientationMoveFromTurning() {
    Movement movement = new Movement();
    movement.setAngularAccleration(Math.PI / 180.0);
    movement.setTranslationalAcceleration(new Vector2D());
    double expectedOrientation = (3.0 * Math.PI) / 180.0;
    // first time is from stop
    Position newPosition = space.applyMovement(position, movement, timestep);
    // second time it is moving already
    newPosition = space.applyMovement(newPosition, movement, timestep);
    assertEquals(newPosition.getOrientation(), expectedOrientation, 0.01);
    assertEquals(newPosition.getAngularVelocity(), Math.PI / 90.0, 0.01);
    assertEquals(newPosition.getX(), 0, 0.0);
    assertEquals(newPosition.getY(), 0, 0.0);
    assertEquals(newPosition.getTranslationalVelocityX(), 0, 0);
    assertEquals(newPosition.getTranslationalVelocityY(), 0, 0);
}

Example 20 with Movement

use of spacesettlers.utilities.Movement in project spacesettlers by amymcgovern.

the class TestToroidal2DPhysics method testApplyNoMovementFromStop.

@Test
public void testApplyNoMovementFromStop() {
    Movement movement = new Movement();
    movement.setAngularAccleration(0);
    movement.setTranslationalAcceleration(new Vector2D());
    Position newPosition = space.applyMovement(position, movement, timestep);
    assertEquals(newPosition.getX(), 0, 0.01);
    assertEquals(newPosition.getY(), 0, 0.01);
    assertEquals(newPosition.getOrientation(), 0, 0.01);
    assertEquals(newPosition.getAngularVelocity(), 0, 0.01);
    assertEquals(newPosition.getTranslationalVelocityX(), 0, 0.01);
    assertEquals(newPosition.getTranslationalVelocityY(), 0, 0.01);
}