technohippy-Pongo 0.1.0

data/lib/pongo/wheel_particle.rb

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+module Pongo
+  # A particle that simulates the behavior of a wheel 
+  class WheelParticle < CircleParticle
+    attr_accessor :rp, :tan, :norm_slip, :orientation, :traction
+
+    def initialize(x, y, radius, options={})
+      options = {:fixed => false, :mass => 1, :elasticity => 0.3, :friction => 0, :traction => 1}.update(options)
+      super(x, y, radius, options)
+      @tan = Vector.new
+      @norm_slip = Vector.new
+      @rp = RimParticle.new(radius, 2)
+
+      self.traction = options[:traction]
+      @orientation = Vector.new
+    end
+
+    # The speed of the WheelParticle. You can alter this value to make the 
+    # WheelParticle spin.
+    def speed
+      @rp.speed
+    end
+
+    def speed=(s)
+      @rp.speed = s
+    end
+
+    # The angular velocity of the WheelParticle. You can alter this value to make the 
+    # WheelParticle spin.
+    def angular_velocity
+      @rp.angular_velocity
+    end
+
+    def angular_velocity=(a)
+      @rp.angular_velocity = a
+    end
+
+    # The amount of traction during a collision. This property controls how much traction is 
+    # applied when the WheelParticle is in contact with another particle. If the value is set
+    # to 0, there will be no traction and the WheelParticle will behave as if the 
+    # surface was totally slippery, like ice. Values should be between 0 and 1. 
+    # 
+    # <p>
+    # Note that the friction property behaves differently than traction. If the surface 
+    # friction is set high during a collision, the WheelParticle will move slowly as if
+    # the surface was covered in glue.
+    # </p>
+    def traction
+      1 - @traction
+    end
+
+    def traction=(t)
+      @traction = 1 - t
+    end
+
+    def radian
+      @orientation.set_to(rp.curr)
+      Math.atan2(@orientation.y, @orientation.x) + Math::PI
+    end
+
+    def angle
+      self.radian * MathUtil::ONE_EIGHTY_OVER_PI
+    end
+
+    def update(dt)
+      super
+      @rp.update(dt)
+    end
+
+    def resolve_collision(mtd, vel, n, d, o, p)
+      super
+      resolve(n * MathUtil.sign(d * o))
+    end
+
+    # simulates torque/wheel-ground interaction - n is the surface normal
+    # Origins of this code thanks to Raigan Burns, Metanet software
+    def resolve(n)
+      # this is the tangent vector at the rim particle
+      @tan.set_to(-@rp.curr.y, @rp.curr.x)
+
+      # normalize so we can scale by the rotational speed
+      @tan = @tan.normalize
+
+      # velocity of the wheel's surface 
+      wheel_surface_velocity = @tan * @rp.speed
+
+      # the velocity of the wheel's surface relative to the ground
+      combined_velocity = velocity.plus!(wheel_surface_velocity)
+
+      # the wheel's comb velocity projected onto the contact normal
+      cp = combined_velocity.cross(n)
+
+      # set the wheel's spinspeed to track the ground
+      @tan.mult!(cp)
+      @rp.prev.copy(@rp.curr - @tan)
+
+      # some of the wheel's torque is removed and converted into linear displacement
+      slip_speed = (1 - @traction) * @rp.speed
+      norm_slip.set_to(slip_speed * n.y, slip_speed * n.x)
+      @curr.plus!(norm_slip)
+      @rp.speed *= @traction
+    end
+  end
+end

metadata

@@ -0,0 +1,90 @@
+--- !ruby/object:Gem::Specification 
+name: technohippy-Pongo
+version: !ruby/object:Gem::Version 
+  version: 0.1.0
+platform: ruby
+authors: 
+- ANDO Yasushi
+autorequire: 
+bindir: bin
+cert_chain: []
+
+date: 2009-08-07 00:00:00 -07:00
+default_executable: 
+dependencies: []
+
+description: Ruby version of APE (Actionscript Physics Engine)
+email: andyjpn@gmail.com
+executables: []
+
+extensions: []
+
+extra_rdoc_files: []
+
+files: 
+- History.txt
+- lib/pongo/abstract_collection.rb
+- lib/pongo/abstract_constraint.rb
+- lib/pongo/abstract_item.rb
+- lib/pongo/abstract_particle.rb
+- lib/pongo/angular_constraint.rb
+- lib/pongo/apengine.rb
+- lib/pongo/circle_particle.rb
+- lib/pongo/collision.rb
+- lib/pongo/collision_detector.rb
+- lib/pongo/collision_event.rb
+- lib/pongo/collision_resolver.rb
+- lib/pongo/composite.rb
+- lib/pongo/container
+- lib/pongo/container/container.rb
+- lib/pongo/container/shoes_container.rb
+- lib/pongo/group.rb
+- lib/pongo/iforce.rb
+- lib/pongo/logger/logger.rb
+- lib/pongo/logger/shoes_logger.rb
+- lib/pongo/logger/standard_logger.rb
+- lib/pongo/rectangle_particle.rb
+- lib/pongo/renderer/renderer.rb
+- lib/pongo/renderer/shoes_renderer.rb
+- lib/pongo/renderer/tk_renderer.rb
+- lib/pongo/rim_particle.rb
+- lib/pongo/spring_constraint.rb
+- lib/pongo/spring_constraint_particle.rb
+- lib/pongo/util/interval.rb
+- lib/pongo/util/math_util.rb
+- lib/pongo/util/numeric_ext.rb
+- lib/pongo/util/vector.rb
+- lib/pongo/vector_force.rb
+- lib/pongo/wheel_particle.rb
+- lib/pongo.rb
+- Manifest.txt
+- README.txt
+has_rdoc: false
+homepage: http://github.com/technohippy/Pongo
+licenses: 
+post_install_message: 
+rdoc_options: []
+
+require_paths: 
+- lib
+required_ruby_version: !ruby/object:Gem::Requirement 
+  requirements: 
+  - - ">="
+    - !ruby/object:Gem::Version 
+      version: "0"
+  version: 
+required_rubygems_version: !ruby/object:Gem::Requirement 
+  requirements: 
+  - - ">="
+    - !ruby/object:Gem::Version 
+      version: "0"
+  version: 
+requirements: []
+
+rubyforge_project: pongo
+rubygems_version: 1.3.5
+signing_key: 
+specification_version: 2
+summary: Pure Ruby Phyisics Engine.
+test_files: []
+