Examples with Vector2D spacesettlers.utilities.Vector2D used on opensource projects

Example 21 with Vector2D

use of spacesettlers.utilities.Vector2D in project spacesettlers by amymcgovern.

the class MoveAction method pdControlMoveToGoal.

/**
 * Accelerate to the goal location using pd control.  Assumes you are already pointed at the goal. Returns
 * the linear/translational acceleration needed to move to the goal.
 *
 * @param goalLoc location that you are trying to get to
 * @param currentLoc your current location
 * @param goalVelocity velocity you want to be at when you reach the goal location
 * @return the accleration vector needed to move to the goal
 */
public Vector2D pdControlMoveToGoal(Toroidal2DPhysics space, Position goalLoc, Position currentLoc, Vector2D goalVelocity) {
    // take care of wrap-around
    Vector2D shortestDist = space.findShortestDistanceVector(currentLoc, goalLoc);
    double xError = shortestDist.getXValue();
    double yError = shortestDist.getYValue();
    // System.out.println("xerror is " + xError + " yError is " + yError);
    // System.out.println("Goal velocity is " + goalVelocity);
    // System.out.println("Current velocity is " + currentLoc.getTranslationalVelocity());
    double velocityErrorX = (goalVelocity.getXValue() - currentLoc.getTranslationalVelocityX());
    double velocityErrorY = (goalVelocity.getYValue() - currentLoc.getTranslationalVelocityY());
    // System.out.println("Velocity error is " + velocityErrorX + " ," + velocityErrorY);
    double xAccel = pdControlTranslate(xError, velocityErrorX);
    double yAccel = pdControlTranslate(yError, velocityErrorY);
    // System.out.println("Translation accel is " + xAccel + ", " + yAccel);
    return new Vector2D(xAccel, yAccel);
}

Example 22 with Vector2D

use of spacesettlers.utilities.Vector2D in project spacesettlers by amymcgovern.

the class MoveAction method getOrientationError.

/**
 * Returns the error in orientation space (separate function so we can use it to decide
 * when it has reached the goal)
 *
 * @param space
 * @param goalLoc
 * @param currentLoc
 * @return
 */
private double getOrientationError(Toroidal2DPhysics space, Position goalLoc, Position currentLoc) {
    Vector2D shortdist = space.findShortestDistanceVector(currentLoc, goalLoc);
    double angle = shortdist.getAngle();
    double error = (angle - currentLoc.getOrientation());
    if (error > Math.PI) {
        error -= 2 * Math.PI;
    } else if (error < -Math.PI) {
        error += 2 * Math.PI;
    }
    return error;
}

Example 23 with Vector2D

use of spacesettlers.utilities.Vector2D in project spacesettlers by amymcgovern.

the class MoveAction method getMovement.

/**
 * Move the ship to the goal by turning and moving to the goal at the same time.
 */
public Movement getMovement(Toroidal2DPhysics space, Ship ship) {
    // isOrientedToGoal, isAtGoal, isOrientedAtGoal, isOrientingAtGoal
    Movement movement = new Movement();
    if (isFinished) {
        return movement;
    }
    // set the angular and translational velocity at the same time
    double angularAccel = pdControlOrientToGoal(space, targetLocation, ship.getPosition(), 0);
    movement.setAngularAccleration(angularAccel);
    Vector2D goalAccel = pdControlMoveToGoal(space, targetLocation, ship.getPosition(), targetVelocity);
    movement.setTranslationalAcceleration(goalAccel);
    // figure out if it has reached the goal
    if ((goalAccel.getMagnitude() < TARGET_REACHED_ACCEL) || (space.findShortestDistance(targetLocation, ship.getPosition()) < TARGET_REACHED_ERROR)) {
        isFinished = true;
    }
    return movement;
}

Example 24 with Vector2D

use of spacesettlers.utilities.Vector2D in project spacesettlers by amymcgovern.

the class MoveActionWithOrientation method getMovement.

/**
 * Move the ship to the goal by turning and moving to the goal at the same time.
 */
public Movement getMovement(Toroidal2DPhysics space, Ship ship) {
    // isOrientedToGoal, isAtGoal, isOrientedAtGoal, isOrientingAtGoal
    Movement movement = new Movement();
    if (isFinished) {
        return movement;
    }
    // set the angular and translational velocity at the same time
    double angularAccel = this.pdControlOrientToGoal(space, targetLocation, ship.getPosition(), 0);
    movement.setAngularAccleration(angularAccel);
    Vector2D goalAccel = super.pdControlMoveToGoal(space, targetLocation, ship.getPosition(), targetVelocity);
    movement.setTranslationalAcceleration(goalAccel);
    // figure out if it has reached the goal
    if ((goalAccel.getMagnitude() < TARGET_REACHED_ACCEL) || (space.findShortestDistance(targetLocation, ship.getPosition()) < TARGET_REACHED_ERROR)) {
        isFinished = true;
    }
    return movement;
}

Example 25 with Vector2D

use of spacesettlers.utilities.Vector2D in project spacesettlers by amymcgovern.

the class CollisionHandler method elasticCollision2D.

/**
 * Elastically collide all objects following the vector formulation found at:
 *
 * http://www.vobarian.com/collisions/2dcollisions2.pdf
 *
 * @param object1 first object in the collision
 * @param object2 second object in the collision
 * @param space handle to space for distance calculations
 */
private void elasticCollision2D(AbstractObject object1, AbstractObject object2, Toroidal2DPhysics space) {
    // handle overlapping objects
    adjustCentersAtCollision(object1, object2, space);
    // get the masses
    double m1 = object1.getMass();
    double m2 = object2.getMass();
    // now get the vector from the first to the second, get the unit normal and tangent
    Vector2D distanceVec = space.findShortestDistanceVector(object1.getPosition(), object2.getPosition());
    Vector2D unitNormal = distanceVec.getUnitVector();
    Vector2D unitTangent = new Vector2D(-unitNormal.getYValue(), unitNormal.getXValue());
    // get the velocity vectors
    Vector2D velocity1 = object1.getPosition().getTranslationalVelocity();
    Vector2D velocity2 = object2.getPosition().getTranslationalVelocity();
    // get the scalars in each direction
    double u1 = velocity1.dot(unitNormal);
    double u2 = velocity2.dot(unitNormal);
    double t1 = velocity1.dot(unitTangent);
    double t2 = velocity2.dot(unitTangent);
    // elastically collide in the one dimension
    CollisionData result = elasticCollision1D(u1, m1, u2, m2);
    // now get it back to the original space
    Vector2D vel1Normal = unitNormal.multiply(result.v1);
    Vector2D vel2Normal = unitNormal.multiply(result.v2);
    Vector2D vel1Tangent = unitTangent.multiply(t1);
    Vector2D vel2Tangent = unitTangent.multiply(t2);
    // add the normal and tangential parts
    Vector2D newVelocity1 = vel1Normal.add(vel1Tangent);
    Vector2D newVelocity2 = vel2Normal.add(vel2Tangent);
    object1.getPosition().setTranslationalVelocity(newVelocity1);
    object2.getPosition().setTranslationalVelocity(newVelocity2);
}