worldobjectstate.java.svn-base

這是一個JAVA語言寫的多代理人程式用來模擬飛機起飛或是降落的程式

package base;

import java.util.*;

/**
 * CSCI 201 FAA Project - Spring 2009 - Team 4c
 * 
 * Describes the state of a world object.
 * 
 * @author Josh Villbrandt
 */
public class WorldObjectState {
	// Private
	public Date thisUpdate, lastUpdate = new Date();
	
	// Object Properties
	public List<WorldVector> vertices = new ArrayList<WorldVector>();
	public List<WorldVector> connections = new ArrayList<WorldVector>();
	public double mass = 0;
	public double momentOfInertia = 0;
	
	// Radial (radians)
	public WorldVector angularPosition = new WorldVector(); // deviation from the heading
	public WorldVector angularVelocity = new WorldVector();
	public WorldVector angularAcceleration = new WorldVector();
	public WorldVector angularForce = new WorldVector(); // this is torque / moment
	
	// Linear
	public WorldVector position = new WorldVector();
	public WorldVector velocity = new WorldVector();
	public WorldVector heading = new WorldVector(true); // Unit vector of the last known velocity
	public WorldVector acceleration = new WorldVector();
	public WorldVector force = new WorldVector();
	
	public WorldObjectState() {
	}
	
	public WorldObjectState(WorldVector initialPosition) {
		this.position = new WorldVector(initialPosition);
	}
	
	public WorldObjectState(WorldVector initialPosition, WorldVector initialHeading, List<WorldVector> vertices) {
		this.position = new WorldVector(initialPosition);
		this.heading = new WorldVector(initialHeading);
		this.vertices = vertices;
	}
	
	public WorldObjectState(WorldVector initialPosition, List<WorldVector> vertices) {
		this.position = new WorldVector(initialPosition);
		this.vertices = vertices;
	}
	
	public WorldObjectState(WorldVector initialPosition, List<WorldVector> vertices, List<WorldVector> connections) {
		this.position = new WorldVector(initialPosition);
		this.vertices = vertices;
		this.connections = connections;
	}
	
	public WorldObjectState(WorldObjectState objectState) {
		this.heading = objectState.heading;
		this.position = objectState.position;
		this.velocity = objectState.velocity;
		this.acceleration = objectState.acceleration;
		this.mass = objectState.mass;
		this.force = objectState.force;
	}
	
	public void update() {
		thisUpdate = new Date();
		double t = (double)((thisUpdate.getTime() - lastUpdate.getTime())) / 1000;
		lastUpdate = thisUpdate;

		// x = vt + 1/2 * at^2
		position = ((WorldVector) position).plus(((WorldVector) velocity).times(t).plus(((WorldVector) acceleration).times(t*t/2)));
		angularPosition = ((WorldVector) angularPosition).plus(((WorldVector) angularVelocity).times(t).plus(((WorldVector) angularAcceleration).times(t*t/2)));
		
		// v = at
		angularVelocity = ((WorldVector) angularVelocity).plus(((WorldVector) angularAcceleration).times(t));
		velocity = ((WorldVector) velocity).plus(((WorldVector) acceleration).times(t));
		if(velocity.magnitude() != 0) heading = new WorldVector(velocity, true);
		
		// a = f / m
		if(momentOfInertia != 0) angularAcceleration = ((WorldVector) angularForce).times(1/momentOfInertia);
		if(mass != 0) acceleration = ((WorldVector) force).times(1/mass);
	}
	
	public WorldVector get_position() {
		return position;
	}
	
	public List<WorldVector> getConnections() {
		return connections;
	}
	
	public void add_connection(WorldVector v) {
		connections.add(v);
	}
	
	public List<WorldVector> get_vertices() {
		return vertices;
	}
	
	public void set_velocity(WorldVector v) {
		this.velocity = new WorldVector(v.x, v.y, v.z);
	}
	
	public WorldVector get_velocity() {
		return this.velocity;
	}
	
	public void set_position(WorldVector v) {
		position = v;
	}
	
	public void set_angular_velocity(WorldVector v) {
		angularVelocity = v;
	}
	
	public String toString() {
		return "{position: " + position + ", velocity: " + velocity + ", acceleration: " + acceleration + "}";
	}
	
}