net.dermetfan.gdx.physics.box2d

Class RotationController.P

java.lang.Object

net.dermetfan.gdx.physics.box2d.RotationController

net.dermetfan.gdx.physics.box2d.RotationController.P

Enclosing class:

RotationController

public static class RotationController.P
extends RotationController

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.RotationController

RotationController.D, RotationController.P, RotationController.PD

Field Summary

Fields

Modifier and Type	Field and Description
private java.lang.Number	angle the setpoint
private java.lang.Number	gain the gain
private com.badlogic.gdx.math.Vector2	target the point to rotate towards (may be null)

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

defaultUserDataAccessor

Constructor Summary

Constructors

Constructor and Description
P(java.lang.Number gain, java.lang.Number angle)
P(java.lang.Number gain, java.lang.Number angle, com.badlogic.gdx.math.Vector2 target)
P(java.lang.Number gain, com.badlogic.gdx.math.Vector2 target)

Method Summary

Modifier and Type	Method and Description
static float	calculateTargetAngle(com.badlogic.gdx.physics.box2d.Body body, com.badlogic.gdx.math.Vector2 target)
float	calculateTorque(com.badlogic.gdx.physics.box2d.Body body)
static float	calculateTorque(float gain, float rotation, float target)
java.lang.Number	getAngle()
java.lang.Number	getGain()
com.badlogic.gdx.math.Vector2	getTarget()
void	setAngle(java.lang.Number angle)
void	setGain(java.lang.Number gain)
void	setTarget(com.badlogic.gdx.math.Vector2 target)

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

applyTorque, applyTorque, getUserDataAccessor, setUserDataAccessor

Methods inherited from class java.lang.Object

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

Field Detail

gain

private java.lang.Number gain

the gain

angle

private java.lang.Number angle

the setpoint

target

private com.badlogic.gdx.math.Vector2 target

the point to rotate towards (may be null)

Constructor Detail

P

public P(java.lang.Number gain,
         java.lang.Number angle)

Parameters:

gain - the gain

angle - the angle

P

public P(java.lang.Number gain,
         com.badlogic.gdx.math.Vector2 target)

Parameters:

gain - the gain

target - the target

P

public P(java.lang.Number gain,
         java.lang.Number angle,
         com.badlogic.gdx.math.Vector2 target)

Parameters:

gain - the gain

angle - the angle

target - the target

Method Detail

calculateTorque

public static float calculateTorque(float gain,
                                    float rotation,
                                    float target)

Parameters:

gain - the gain

rotation - the current rotation

target - the setpoint

Returns:

gain * error normalized between -pi and pi

calculateTargetAngle

public static float calculateTargetAngle(com.badlogic.gdx.physics.box2d.Body body,
                                         com.badlogic.gdx.math.Vector2 target)

Parameters:

body - the Body to rotate

target - The point to rotate towards. May be null in which case zero is returned.

Returns:

the angle to rotate towards

calculateTorque

public float calculateTorque(com.badlogic.gdx.physics.box2d.Body body)

Specified by:

calculateTorque in class RotationController

Returns:

the torque to apply

getGain

public java.lang.Number getGain()

Returns:

the gain

setGain

public void setGain(java.lang.Number gain)

Parameters:

gain - the gain to set

getAngle

public java.lang.Number getAngle()

Returns:

the angle

setAngle

public void setAngle(java.lang.Number angle)

Parameters:

angle - the angle to set

getTarget

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

Returns:

the target

setTarget

public void setTarget(com.badlogic.gdx.math.Vector2 target)

Parameters:

target - the target to set