frcsim::BallPhysicsSim3D Class Reference

3D rigid-body style ball simulator with drag, Magnus lift, and ground contact. More...

#include <ball_physics.hpp>

Inheritance diagram for frcsim::BallPhysicsSim3D:

Classes
struct	Config
	Runtime physics environment parameters. More...
struct	BallProperties
	Physical parameters for the ball body. More...
struct	BallState
	Dynamic state advanced by step(). More...
struct	PickupRequest
	Request payload used to capture a ball into a carrier. More...

Public Member Functions
	BallPhysicsSim3D ()=default
	BallPhysicsSim3D (const Config &config)
	BallPhysicsSim3D (const Config &config, const BallProperties &ball_properties)
const Config &	config () const
	Returns active, sanitized configuration.
void	setConfig (const Config &config)
	Replaces configuration after value sanitization and clamping.
const BallProperties &	ballProperties () const
	Returns active, sanitized ball properties.
void	setBallProperties (const BallProperties &props)
	Replaces ball properties after sanitization.
const BallState &	state () const
	Returns current ball state.
void	setState (const BallState &state)
	Replaces state and sanitizes non-finite values.
void	setCarrierPose (const Vector3 &carrier_position_m, const Vector3 &carrier_velocity_mps=Vector3::zero())
	Updates carrier pose used when the ball is in held mode.
bool	requestPickup (const PickupRequest &pickup_request)
	Attempts to pick up and hold the ball.
void	release ()
	Releases the ball from held mode without changing velocity.
void	shoot (const Vector3 &muzzle_position_m, const Vector3 &muzzle_velocity_mps, const Vector3 &muzzle_spin_radps=Vector3::zero())
	Places the ball at a muzzle pose and sets launch velocity/spin.
void	step (double dt_s)
	Advances simulation by dt seconds.

Detailed Description

3D rigid-body style ball simulator with drag, Magnus lift, and ground contact.

Units are SI: meters, seconds, kilograms, radians.

Constructor & Destructor Documentation

BallPhysicsSim3D() [1/3]

frcsim::BallPhysicsSim3D::BallPhysicsSim3D ( )

default

BallPhysicsSim3D() [2/3]

frcsim::BallPhysicsSim3D::BallPhysicsSim3D ( const Config & config )

inlineexplicit

BallPhysicsSim3D() [3/3]

frcsim::BallPhysicsSim3D::BallPhysicsSim3D ( const Config & config, const BallProperties & ball_properties )

inline

Member Function Documentation

ballProperties()

const BallProperties & frcsim::BallPhysicsSim3D::ballProperties ( ) const

inline

Returns active, sanitized ball properties.

Returns

Immutable BallProperties reference.

config()

const Config & frcsim::BallPhysicsSim3D::config ( ) const

inline

Returns active, sanitized configuration.

Returns

Immutable Config reference.

release()

void frcsim::BallPhysicsSim3D::release ( )

inline

Releases the ball from held mode without changing velocity.

requestPickup()

bool frcsim::BallPhysicsSim3D::requestPickup ( const PickupRequest & pickup_request )

inline

Attempts to pick up and hold the ball.

Parameters

pickup_request

Capture request parameters.

Returns

true when capture succeeds or ball is already held.

setBallProperties()

void frcsim::BallPhysicsSim3D::setBallProperties ( const BallProperties & props )

inline

Replaces ball properties after sanitization.

Parameters

props

New ball properties.

setCarrierPose()

void frcsim::BallPhysicsSim3D::setCarrierPose ( const Vector3 & carrier_position_m, const Vector3 & carrier_velocity_mps = Vector3::zero() )

inline

Updates carrier pose used when the ball is in held mode.

Parameters

carrier_position_m	Carrier reference position in world frame.
carrier_velocity_mps	Carrier linear velocity in world frame.

setConfig()

void frcsim::BallPhysicsSim3D::setConfig ( const Config & config )

inline

Replaces configuration after value sanitization and clamping.

Parameters

config

New config input.

setState()

void frcsim::BallPhysicsSim3D::setState ( const BallState & state )

inline

Replaces state and sanitizes non-finite values.

Parameters

state

New state value.

shoot()

void frcsim::BallPhysicsSim3D::shoot ( const Vector3 & muzzle_position_m, const Vector3 & muzzle_velocity_mps, const Vector3 & muzzle_spin_radps = Vector3::zero() )

inline

Places the ball at a muzzle pose and sets launch velocity/spin.

Parameters

muzzle_position_m	Muzzle world position.
muzzle_velocity_mps	Launch velocity in world frame.
muzzle_spin_radps	Launch spin in world frame.

state()

const BallState & frcsim::BallPhysicsSim3D::state ( ) const

inline

Returns current ball state.

Returns

Immutable BallState reference.

step()

void frcsim::BallPhysicsSim3D::step ( double dt_s )

inline

Advances simulation by dt seconds.

Parameters

dt_s	Simulation timestep in seconds.

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

• src/main/driver/include/frcsim/gamepiece/ball_physics.hpp