NewGamePhysics.PhysicalElements.DoublePendulumSimulationBase Class Reference

Base class for a double pendulum simulation. More...

Inheritance diagram for NewGamePhysics.PhysicalElements.DoublePendulumSimulationBase:

Public Member Functions
abstract void	SetInitialConditionsAtRest ()
	Resets the initial conditions (angles and rotational speeds) for the pendulum simulation to a be at rest.
abstract Vector2[]	GetPosition ()
	Calculate pedulum positions.
abstract Vector2[]	GetPosition (Vector2 origin, double scale)
	Calculate scaled and positioned pedulum positions.
abstract double[]	GetSize ()
	Calculate the sizes of each component.
abstract double[]	GetSize (double scale)
	Calculate the sizes of each component with the scale applied.
abstract double	GetEnergy ()
	Calculates the current total energy of the system.
void	SetInitialConditions (double theta1, double omega1, double theta2, double omega2)
	Sets the initial conditions (angles and rotational speeds) for the pendulum simulation. Angles are measured relative to the direction of the gravitational acceleration in a counter-clockwise way.
double	Drive (DoublePendulumHinges which, double force)
	Drive the pendulum with a tangential rotational force applied to a hinge.
void	Animate ()
	Animates the pendulum through one time step.
double[]	GetAngle ()
	Get pedulum angles state (from last calculation).
double	GetAngle (DoublePendulumHinges which)
	Get pedulum angles state (from last calculation).
double[]	GetVelocity ()
	Get pedulum speeds from last calculation.
double	GetVelocity (DoublePendulumHinges which)
	Get A pedulum speed from last calculation.
double[]	GetAcceleration ()
	Get pedulum acceleration state (from last calculation).
double	GetAcceleration (DoublePendulumHinges which)
	Get pedulum acceleration state (from last calculation).
double[]	GetState ()
	Get complete pedulum state (from last calculation).
double	GetState (DoublePendulumStateValues which)
	Get complete pedulum state (from last calculation).
Properties
double	H `[get, set]`
	Gets or sets the integrator stepsize (time step) in seconds.
double	T `[get, set]`
	Gets or sets the animation parameter (time) in seconds.

Detailed Description

Base class for a double pendulum simulation.

Definition at line 74 of file DoublePendulumSimulationBase.cs.

Member Function Documentation

void NewGamePhysics.PhysicalElements.DoublePendulumSimulationBase.Animate ( )

Animates the pendulum through one time step.

Apply friction to the hinges modifying speed

Definition at line 267 of file DoublePendulumSimulationBase.cs.

00268         {
00269             // Animate pendulum
00270             // double t; VectorN theta, omega, acceleration;
00271             this.pendulumIntegrator.Step(
00272                 out this.t,
00273                 out this.theta,
00274                 out this.omega,
00275                 out this.acceleration);
00276 
00278             for (int i = 0; i < 2; i++)
00279             {
00280                 this.omega[i] = this.FrictionModel.ApplyFriction(this.omega[i]);
00281             }
00282         }

double NewGamePhysics.PhysicalElements.DoublePendulumSimulationBase.Drive	(	DoublePendulumHinges	which,
		double	force
	)

Drive the pendulum with a tangential rotational force applied to a hinge.

Parameters:

	which	Which hinge to drive.
	force	The tangential force to apply to the hinge.

Returns:: The rotational speed change that was applied.

Definition at line 256 of file DoublePendulumSimulationBase.cs.

00257         {
00258             // Apply a force to the hinges modifying speed
00259             double deltaOmega = force * this.H;
00260             this.omega[(int)which] += deltaOmega;
00261             return deltaOmega;
00262         }

double NewGamePhysics.PhysicalElements.DoublePendulumSimulationBase.GetAcceleration ( DoublePendulumHinges which )

Get pedulum acceleration state (from last calculation).

Parameters:

which

The hinge to return the value for.

Returns:: A pendulum acceleration in radians/sec^2.

Definition at line 346 of file DoublePendulumSimulationBase.cs.

00347         {
00348             return this.acceleration[(int)which];
00349         }

double [] NewGamePhysics.PhysicalElements.DoublePendulumSimulationBase.GetAcceleration ( )

Get pedulum acceleration state (from last calculation).

Returns:: Two pendulum accelerations in radians/sec^2.

Definition at line 333 of file DoublePendulumSimulationBase.cs.

00334         {
00335             double[] omega = new double[2];
00336             omega[0] = this.acceleration[0];
00337             omega[1] = this.acceleration[1];
00338             return omega;
00339         }

double NewGamePhysics.PhysicalElements.DoublePendulumSimulationBase.GetAngle ( DoublePendulumHinges which )

Get pedulum angles state (from last calculation).

Parameters:

which

The hinge to return the value for.

Returns:: A pendulum angle in radians.

Definition at line 301 of file DoublePendulumSimulationBase.cs.

00302         {
00303             return this.theta[(int)which];
00304         }

double [] NewGamePhysics.PhysicalElements.DoublePendulumSimulationBase.GetAngle ( )

Get pedulum angles state (from last calculation).

Returns:: Two pendulum angles in radians.

Definition at line 288 of file DoublePendulumSimulationBase.cs.

00289         {
00290             double[] angles = new double[2];
00291             angles[0] = this.theta[0];
00292             angles[1] = this.theta[1];
00293             return angles;
00294         }

abstract double NewGamePhysics.PhysicalElements.DoublePendulumSimulationBase.GetEnergy ( ) [pure virtual]

Calculates the current total energy of the system.

Returns:: The energy value.

Implemented in NewGamePhysics.PhysicalElements.DoubleRegularPendulumSimulation, and NewGamePhysics.PhysicalElements.DoubleSquarePendulumSimulation.

abstract Vector2 [] NewGamePhysics.PhysicalElements.DoublePendulumSimulationBase.GetPosition	(	Vector2	origin,
		double	scale
	)			`[pure virtual]`

Calculate scaled and positioned pedulum positions.

Returns:: The pendulum positions.

Parameters:

	origin	Anchor position of double square pendulum.
	scale	Scaling factor for pendulum in pixels/m.

Implemented in NewGamePhysics.PhysicalElements.DoubleRegularPendulumSimulation, and NewGamePhysics.PhysicalElements.DoubleSquarePendulumSimulation.

abstract Vector2 [] NewGamePhysics.PhysicalElements.DoublePendulumSimulationBase.GetPosition ( ) [pure virtual]

Calculate pedulum positions.

Returns:: The pendulum positions.

Implemented in NewGamePhysics.PhysicalElements.DoubleRegularPendulumSimulation, and NewGamePhysics.PhysicalElements.DoubleSquarePendulumSimulation.

abstract double [] NewGamePhysics.PhysicalElements.DoublePendulumSimulationBase.GetSize ( double scale ) [pure virtual]

Calculate the sizes of each component with the scale applied.

Parameters:

scale

The scale factor for the size calculation.

Returns:: Array containing size values.

Implemented in NewGamePhysics.PhysicalElements.DoubleRegularPendulumSimulation, and NewGamePhysics.PhysicalElements.DoubleSquarePendulumSimulation.

abstract double [] NewGamePhysics.PhysicalElements.DoublePendulumSimulationBase.GetSize ( ) [pure virtual]

Calculate the sizes of each component.

Returns:: Array containing size values.

Implemented in NewGamePhysics.PhysicalElements.DoubleRegularPendulumSimulation, and NewGamePhysics.PhysicalElements.DoubleSquarePendulumSimulation.

double NewGamePhysics.PhysicalElements.DoublePendulumSimulationBase.GetState ( DoublePendulumStateValues which )

Get complete pedulum state (from last calculation).

Parameters:

which

The type of state value to return.

Returns:: A pendulum angle, speed or acceleration value in its respective unit.

Definition at line 380 of file DoublePendulumSimulationBase.cs.

00381         {
00382             return this.GetState()[(int)which];
00383         }

double [] NewGamePhysics.PhysicalElements.DoublePendulumSimulationBase.GetState ( )

Get complete pedulum state (from last calculation).

Returns:: Two pendulum angle, speed and accelerations values each in their respective units.

Definition at line 356 of file DoublePendulumSimulationBase.cs.

00357         {
00358             double[] values = new double[6];
00359             values[(int)DoublePendulumStateValues.Angle1] =
00360                 this.theta[(int)DoublePendulumHinges.Hinge1];
00361             values[(int)DoublePendulumStateValues.Angle2] =
00362                 this.theta[(int)DoublePendulumHinges.Hinge2];
00363             values[(int)DoublePendulumStateValues.Velocity1]
00364                 = this.omega[(int)DoublePendulumHinges.Hinge1];
00365             values[(int)DoublePendulumStateValues.Velocity2]
00366                 = this.omega[(int)DoublePendulumHinges.Hinge2];
00367             values[(int)DoublePendulumStateValues.Acceleration1]
00368                 = this.theta[(int)DoublePendulumHinges.Hinge1];
00369             values[(int)DoublePendulumStateValues.Acceleration2]
00370                 = this.theta[(int)DoublePendulumHinges.Hinge2];
00371             return values;
00372         }

double NewGamePhysics.PhysicalElements.DoublePendulumSimulationBase.GetVelocity ( DoublePendulumHinges which )

Get A pedulum speed from last calculation.

Parameters:

which

The hinge to return the value for.

Returns:: A pendulum speed in radians/sec.

Definition at line 323 of file DoublePendulumSimulationBase.cs.

00324         {
00325             return this.omega[(int)which];
00326 
00327         }

double [] NewGamePhysics.PhysicalElements.DoublePendulumSimulationBase.GetVelocity ( )

Get pedulum speeds from last calculation.

Returns:: Two pendulum speeds in radians/sec.

Definition at line 310 of file DoublePendulumSimulationBase.cs.

00311         {
00312             double[] omega = new double[2];
00313             omega[0] = this.omega[0];
00314             omega[1] = this.omega[1];
00315             return omega;
00316         }

void NewGamePhysics.PhysicalElements.DoublePendulumSimulationBase.SetInitialConditions	(	double	theta1,
		double	omega1,
		double	theta2,
		double	omega2
	)

Sets the initial conditions (angles and rotational speeds) for the pendulum simulation. Angles are measured relative to the direction of the gravitational acceleration in a counter-clockwise way.

Parameters:

	theta1	Angle of the top square measures along the line from the hinge to the corner across the hinge, in radians. 0.0 is vertically downwards, counter-clockwise is positive.
	omega1	Rotational speed of the top pendulum square. In radians per second, counter-clockwise is positive.
	theta2	Angle of the bottom square measures along the line from the hinge to the corner across the hinge, in radians. 0.0 is vertically downwards, counter-clockwise is positive.
	omega2	Rotational speed of the bottom pendulum square. In radians per second, counter-clockwise is positive.

Definition at line 234 of file DoublePendulumSimulationBase.cs.

00235         {
00236             // Store values
00237             this.theta[0] = theta1;
00238             this.theta[1] = theta2;
00239             this.omega[0] = omega1;
00240             this.omega[1] = omega2;
00241 
00242             // (Re)create integrator
00243             this.pendulumIntegrator = new NystromIntegrator(
00244                 (ISecondDerivative)this.pendulumAcceleration,
00245                 this.H,
00246                 this.theta,
00247                 this.omega);
00248         }

abstract void NewGamePhysics.PhysicalElements.DoublePendulumSimulationBase.SetInitialConditionsAtRest ( ) [pure virtual]

Resets the initial conditions (angles and rotational speeds) for the pendulum simulation to a be at rest.

Implemented in NewGamePhysics.PhysicalElements.DoubleRegularPendulumSimulation, and NewGamePhysics.PhysicalElements.DoubleSquarePendulumSimulation.

Property Documentation

double NewGamePhysics.PhysicalElements.DoublePendulumSimulationBase.H [get, set]

Gets or sets the integrator stepsize (time step) in seconds.

Definition at line 132 of file DoublePendulumSimulationBase.cs.

double NewGamePhysics.PhysicalElements.DoublePendulumSimulationBase.T [get, set]

Gets or sets the animation parameter (time) in seconds.

Definition at line 141 of file DoublePendulumSimulationBase.cs.

The documentation for this class was generated from the following file:

C:/Users/Andreas Schiffler/Desktop/SVN/NewGamePhysics/NewGamePhysics/PhysicalElements/DoublePendulumSimulationBase.cs

NewGamePhysics.PhysicalElements.DoublePendulumSimulationBase Class Reference

Public Member Functions

Properties

Detailed Description

Member Function Documentation

Property Documentation