net.dermetfan.gdx.physics.box2d

Class PositionController.P

java.lang.Object

net.dermetfan.gdx.physics.box2d.PositionController

net.dermetfan.gdx.physics.box2d.PositionController.P

Enclosing class:

PositionController

public static class PositionController.P
extends PositionController

the proportional control loop component

Since:

0.11.1

Author:

dermetfan

Nested Class Summary

Nested classes/interfaces inherited from class net.dermetfan.gdx.physics.box2d.PositionController

PositionController.D, PositionController.P, PositionController.PD

Field Summary

Fields

Modifier and Type	Field and Description
private com.badlogic.gdx.math.Vector2	destination the setpoint
private com.badlogic.gdx.math.Vector2	gain the gain

Fields inherited from class net.dermetfan.gdx.physics.box2d.PositionController

defaultUserDataAccessor, vec2

Constructor Summary

Constructors

Constructor and Description
P(float gain, com.badlogic.gdx.math.Vector2 destination)
P(com.badlogic.gdx.math.Vector2 gain, com.badlogic.gdx.math.Vector2 destination)

Method Summary

Modifier and Type	Method and Description
com.badlogic.gdx.math.Vector2	calculateForce(com.badlogic.gdx.physics.box2d.Body body, com.badlogic.gdx.math.Vector2 point)
static float	calculateForce(float gain, float pos, float dest)
static com.badlogic.gdx.math.Vector2	calculateForce(float gainX, float gainY, float x, float y, float destX, float destY)
static com.badlogic.gdx.math.Vector2	calculateForce(com.badlogic.gdx.math.Vector2 gain, com.badlogic.gdx.math.Vector2 pos, com.badlogic.gdx.math.Vector2 dest)
com.badlogic.gdx.math.Vector2	calculateForceToCenter(com.badlogic.gdx.physics.box2d.Body body)
com.badlogic.gdx.math.Vector2	getDestination()
com.badlogic.gdx.math.Vector2	getGain()
void	setDestination(com.badlogic.gdx.math.Vector2 destination)
void	setGain(com.badlogic.gdx.math.Vector2 gain)

Methods inherited from class net.dermetfan.gdx.physics.box2d.PositionController

applyForce, applyForceToCenter, applyForceToCenter, getUserDataAccessor, setUserDataAccessor

Methods inherited from class java.lang.Object

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

Field Detail

gain

private com.badlogic.gdx.math.Vector2 gain

the gain

destination

private com.badlogic.gdx.math.Vector2 destination

the setpoint

Constructor Detail

P

public P(float gain,
         com.badlogic.gdx.math.Vector2 destination)

Parameters:

gain - the gain on both axes

destination - the destination

P

public P(com.badlogic.gdx.math.Vector2 gain,
         com.badlogic.gdx.math.Vector2 destination)

Parameters:

gain - the gain

destination - the destination

Method Detail

calculateForce

public static float calculateForce(float gain,
                                   float pos,
                                   float dest)

Parameters:

gain - the gain

pos - the current position

dest - the setpoint

Returns:

gain * error

calculateForce

public static com.badlogic.gdx.math.Vector2 calculateForce(float gainX,
                                                           float gainY,
                                                           float x,
                                                           float y,
                                                           float destX,
                                                           float destY)

Returns:

PositionController.vec2

See Also:

calculateForce(float, float, float)

calculateForce

public static com.badlogic.gdx.math.Vector2 calculateForce(com.badlogic.gdx.math.Vector2 gain,
                                                           com.badlogic.gdx.math.Vector2 pos,
                                                           com.badlogic.gdx.math.Vector2 dest)

See Also:

calculateForce(float, float, float, float, float, float)

calculateForce

public com.badlogic.gdx.math.Vector2 calculateForce(com.badlogic.gdx.physics.box2d.Body body,
                                                    com.badlogic.gdx.math.Vector2 point)

Specified by:

calculateForce in class PositionController

point - the world point at which the force should be applied

Returns:

the force to apply at the given point

calculateForceToCenter

public com.badlogic.gdx.math.Vector2 calculateForceToCenter(com.badlogic.gdx.physics.box2d.Body body)

Specified by:

calculateForceToCenter in class PositionController

Returns:

the force to apply at the center of mass of the Body

getGain

public com.badlogic.gdx.math.Vector2 getGain()

Returns:

the gain

setGain

public void setGain(com.badlogic.gdx.math.Vector2 gain)

Parameters:

gain - the gain to set

getDestination

public com.badlogic.gdx.math.Vector2 getDestination()

Returns:

the destination

setDestination

public void setDestination(com.badlogic.gdx.math.Vector2 destination)

Parameters:

destination - the destination to set