/* *  Simbad - Robot Simulator *  Copyright (C) 2004 Louis Hugues * *  This program is free software; you can redistribute it and/or modify *  it under the terms of the GNU General Public License as published by *  the Free Software Foundation; either version 2 of the License, or *  (at your option) any later version. * *  This program is distributed in the hope that it will be useful,  *  but WITHOUT ANY WARRANTY; without even the implied warranty of *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the *  GNU General Public License for more details. * *  You should have received a copy of the GNU General Public License *  along with this program; if not, write to the Free Software *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA * ----------------------------------------------------------------------------- * $Author: sioulseuguh $  * $Date: 2005/03/17 17:49:37 $ * $Revision: 1.3 $ * $Source: /cvsroot/simbad/src/simbad/sim/DefaultKinematic.java,v $ */package simbad.sim;import java.text.DecimalFormat;import javax.media.j3d.Transform3D;import javax.vecmath.Vector3d;/** * This is the standard kinematic with two control parameters : translation and rotation. * Each agent use this kinematic by default. */public class DefaultKinematic extends KinematicModel {          /** Translational velocity  in meters per second. */    private double translationalVelocity;    /** Rotational velocity  in radians per second */    private double rotationalVelocity;          DefaultKinematic(){        reset();    }        /** Resets all control parameters to their initial values. */          protected void reset(){        rotationalVelocity=0;        translationalVelocity=0;    }   /** Compute instant translation and rotation vectors .    *     * @param elapsedSecond time elapsed    * @param rotation current rotation    * @param instantTranslation to store translation    * @param instantRotation to store rotation    */      protected void   update(double elapsedSecond,Transform3D rotation,Vector3d instantTranslation,Vector3d instantRotation) {                         instantTranslation.set(translationalVelocity * elapsedSecond, 0.0, 0.0);        // apply current rotation (on y axis)        rotation.transform(instantTranslation);            // perform rotation - on y axis        instantRotation.set(0,elapsedSecond * rotationalVelocity,0);            }    /**     * Sets rotational velocity in radians per second.     */    public final void setRotationalVelocity(double rv) {        rotationalVelocity = rv;    }    /**     * Sets translational velocity in meter per second.     */    public final void setTranslationalVelocity(double tv) {        translationalVelocity = tv;    }            /**     * Gets rotational velocity in radians per second     */     public final double getRotationalVelocity() {        return rotationalVelocity;    }     /**      * Gets translational velocity in meter per second.      */    public final double getTranslationalVelocity() {        return translationalVelocity;    }            /** Resets all control parameters to their initial values. */           protected String toString(DecimalFormat format){    return "kinematic \t= DefaultKinematic\n" +    "rotVelocity   \t= " + format.format(rotationalVelocity) + " rad/s\n" +    "transVelocity \t= " + format.format(translationalVelocity) + " m/s\n";    }}