JSci.physics
Class RigidBody3D

java.lang.Object
  JSci.physics.Particle
      JSci.physics.AbstractClassicalParticle
          JSci.physics.ClassicalParticle3D
              JSci.physics.RigidBody3D

All Implemented Interfaces:

java.io.Serializable

public class RigidBody3D
extends ClassicalParticle3D

The RigidBody3D class provides an object for encapsulating rigid bodies that live in 3D.

See Also:

Serialized Form

Field Summary

protected double	angMass Moment of inertia.
protected double	angx Angles (orientation).
protected double	angxVel Angular velocity.
protected double	angy Angles (orientation).
protected double	angyVel Angular velocity.
protected double	angz Angles (orientation).
protected double	angzVel Angular velocity.

Fields inherited from class JSci.physics.ClassicalParticle3D

mass, vx, vy, vz, x, y, z

Constructor Summary

RigidBody3D()
Constructs a rigid body.

Method Summary

RigidBody3D	angularAccelerate(double ax, double ay, double az, double dt) Accelerates this particle.
RigidBody3D	applyForce(double fx, double fy, double fz, double x, double y, double z, double dt) Applies a force acting at a point away from the centre of mass.
RigidBody3D	applyTorque(double tx, double ty, double tz, double dt) Applies a torque to this particle.
double	energy() Returns the kinetic and rotational energy.
double	getMomentOfInertia() Returns the moment of inertia.
double	getXAngle() Returns the x-axis angle of this body.
double	getXAngularMomentum()
double	getXAngularVelocity()
double	getYAngle() Returns the y-axis angle of this body.
double	getYAngularMomentum()
double	getYAngularVelocity()
double	getZAngle() Returns the z-axis angle of this body.
double	getZAngularMomentum()
double	getZAngularVelocity()
ClassicalParticle3D	move(double dt) Evolves this particle forward according to its kinematics.
RigidBody3D	rotate(double dt) Evolves this particle forward according to its rotational kinematics.
void	setAngles(double angleX, double angleY, double angleZ) Sets the angles (orientation) of this body.
void	setAngularMomentum(double angleXMom, double angleYMom, double angleZMom)
void	setAngularVelocity(double angleXVel, double angleYVel, double angleZVel)
void	setMomentOfInertia(double MoI) Sets the moment of inertia.

Methods inherited from class JSci.physics.ClassicalParticle3D

accelerate, applyForce, getMass, getMomentum, getPosition, getVelocity, getXMomentum, getXPosition, getXVelocity, getYMomentum, getYPosition, getYVelocity, getZMomentum, getZPosition, getZVelocity, gravitate, setMass, setMomentum, setPosition, setVelocity, setXPosition, setYPosition, setZPosition, speed, translate

Methods inherited from class java.lang.Object

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

Field Detail

angMass

protected double angMass

Moment of inertia.

angx

protected double angx

Angles (orientation).

angy

protected double angy

Angles (orientation).

angz

protected double angz

Angles (orientation).

angxVel

protected double angxVel

Angular velocity.

angyVel

protected double angyVel

Angular velocity.

angzVel

protected double angzVel

Angular velocity.

Constructor Detail

RigidBody3D

public RigidBody3D()

Constructs a rigid body.

Method Detail

setMomentOfInertia

public void setMomentOfInertia(double MoI)

Sets the moment of inertia.

getMomentOfInertia

public double getMomentOfInertia()

Returns the moment of inertia.

setAngles

public void setAngles(double angleX,
                      double angleY,
                      double angleZ)

Sets the angles (orientation) of this body.

Parameters:

angleX - an angle in radians.

angleY - an angle in radians.

angleZ - an angle in radians.

getXAngle

public double getXAngle()

Returns the x-axis angle of this body.

Returns:

an angle in radians.

getYAngle

public double getYAngle()

Returns the y-axis angle of this body.

Returns:

an angle in radians.

getZAngle

public double getZAngle()

Returns the z-axis angle of this body.

Returns:

an angle in radians.

setAngularVelocity

public void setAngularVelocity(double angleXVel,
                               double angleYVel,
                               double angleZVel)

getXAngularVelocity

public double getXAngularVelocity()

getYAngularVelocity

public double getYAngularVelocity()

getZAngularVelocity

public double getZAngularVelocity()

setAngularMomentum

public void setAngularMomentum(double angleXMom,
                               double angleYMom,
                               double angleZMom)

getXAngularMomentum

public double getXAngularMomentum()

getYAngularMomentum

public double getYAngularMomentum()

getZAngularMomentum

public double getZAngularMomentum()

energy

public double energy()

Returns the kinetic and rotational energy.

Overrides:

energy in class ClassicalParticle3D

move

public ClassicalParticle3D move(double dt)

Evolves this particle forward according to its kinematics. This method changes the particle's position and orientation.

Overrides:

move in class ClassicalParticle3D

Returns:

this.

rotate

public RigidBody3D rotate(double dt)

Evolves this particle forward according to its rotational kinematics. This method changes the particle's orientation.

Returns:

this.

angularAccelerate

public RigidBody3D angularAccelerate(double ax,
                                     double ay,
                                     double az,
                                     double dt)

Accelerates this particle. This method changes the particle's angular velocity. It is additive, that is angularAccelerate(a1, dt).angularAccelerate(a2, dt) is equivalent to angularAccelerate(a1+a2, dt).

Returns:

this.

applyTorque

public RigidBody3D applyTorque(double tx,
                               double ty,
                               double tz,
                               double dt)

Applies a torque to this particle. This method changes the particle's angular velocity. It is additive, that is applyTorque(T1, dt).applyTorque(T2, dt) is equivalent to applyTorque(T1+T2, dt).

Returns:

this.

applyForce

public RigidBody3D applyForce(double fx,
                              double fy,
                              double fz,
                              double x,
                              double y,
                              double z,
                              double dt)

Applies a force acting at a point away from the centre of mass. Any resultant torques are also applied. This method changes the particle's angular velocity.

Parameters:

x - x-coordinate from centre of mass.

y - y-coordinate from centre of mass.

z - z-coordinate from centre of mass.

Returns:

this.