jsim.api.GamepieceZone Class Reference

Classes
enum	Mode

Public Member Functions
	GamepieceZone (Object ignored)
SimRobot	getRobot ()
String	getName ()
Transform3d[]	getZoneDimensions ()
Rotation3d	getRobotRotation ()
void	setMode (Mode mode)
void	disable ()
void	setExitParameters (LinearVelocity velocity, Rotation3d rotation)
void	setExitParameters (LinearVelocity velocity)
void	intake (LinearVelocity velocity, Rotation3d rotation)
void	outtake (LinearVelocity velocity, Rotation3d rotation)
void	shoot (LinearVelocity velocity, Rotation3d rotation)
void	configure (Supplier< Mode > modeSupplier, Supplier< LinearVelocity > exitVelocitySupplier, Supplier< Rotation3d > exitRotationSupplier)
LinearVelocity	getExitRate ()
LinearVelocity	getExitVelocity ()
Rotation3d	getExitRotation ()
Translation3d	getExitTranslation ()
void	refresh ()
void	update ()
void	configure (Mode mode, Supplier< Boolean > enter, Supplier< Boolean > exit, Supplier< Double > exitRateMetersPerSecondSupplier, Supplier< Rotation3d > rot, Supplier< Translation3d > trans)
void	evaluate ()
Mode	getMode ()

Static Public Member Functions
static Transform3d[]	createZoneDimensions (Rotation3d rotation, Translation3d... translations)

Detailed Description

Simulation-side gamepiece interaction zone.

Constructor & Destructor Documentation

GamepieceZone()

jsim.api.GamepieceZone.GamepieceZone ( Object ignored )

inline

Compatibility constructor for example code that passes null.

Parameters

ignored

compatibility placeholder

Member Function Documentation

configure() [1/2]

void jsim.api.GamepieceZone.configure ( Mode mode, Supplier< Boolean > enter, Supplier< Boolean > exit, Supplier< Double > exitRateMetersPerSecondSupplier, Supplier< Rotation3d > rot, Supplier< Translation3d > trans )

inline

Configures a rule-driven zone state.

Parameters

mode	the mode to activate while the enter condition is true
enter	supplies whether the zone should activate
exit	supplies whether the zone should disable
exitRateMetersPerSecondSupplier	supplies the exit rate in meters per second
rot	supplies the exit rotation
trans	supplies the exit translation

configure() [2/2]

void jsim.api.GamepieceZone.configure ( Supplier< Mode > modeSupplier, Supplier< LinearVelocity > exitVelocitySupplier, Supplier< Rotation3d > exitRotationSupplier )

inline

Installs suppliers used to refresh the zone state each simulation step.

Parameters

modeSupplier	supplies the active mode
exitVelocitySupplier	supplies the exit velocity
exitRotationSupplier	supplies the exit rotation

createZoneDimensions()

Transform3d[] jsim.api.GamepieceZone.createZoneDimensions ( Rotation3d rotation, Translation3d... translations )

inlinestatic

Helper to build an array of transform dimensions from a shared rotation and a list of translations. This is a small convenience for example code and users constructing zones.

Parameters

rotation	the rotation to apply to every translation
translations	the vertex translations defining the zone polygon

Returns

transforms with the provided rotation applied to each translation

disable()

void jsim.api.GamepieceZone.disable ( )

inline

Disables gamepiece interaction for this zone.

evaluate()

void jsim.api.GamepieceZone.evaluate ( )

inline

Evaluates rule-driven zone updates.

If a rule's enter condition is true, the zone is set to the rule's mode and its exit parameters are refreshed from the configured suppliers. If the exit condition is true, the zone is disabled.

getExitRate()

LinearVelocity jsim.api.GamepieceZone.getExitRate ( )

inline

Returns the cached exit rate.

Returns

exit rate as a linear velocity

getExitRotation()

Rotation3d jsim.api.GamepieceZone.getExitRotation ( )

inline

Returns the configured or supplier-provided exit rotation.

Returns

exit rotation

getExitTranslation()

Translation3d jsim.api.GamepieceZone.getExitTranslation ( )

inline

Returns the configured exit translation.

Returns

exit translation

getExitVelocity()

LinearVelocity jsim.api.GamepieceZone.getExitVelocity ( )

inline

Returns the configured or supplier-provided exit velocity.

Returns

exit velocity

getMode()

Mode jsim.api.GamepieceZone.getMode ( )

inline

Returns the currently active zone mode.

Returns

active mode, or the supplier-provided mode when configured

getName()

String jsim.api.GamepieceZone.getName ( )

inline

Returns the configured zone name.

Returns

the zone name, or null if unnamed

getRobot()

SimRobot jsim.api.GamepieceZone.getRobot ( )

inline

Returns the robot that owns this zone.

Returns

the owning robot, or null for compatibility instances

getRobotRotation()

Rotation3d jsim.api.GamepieceZone.getRobotRotation ( )

inline

Returns the zone rotation relative to the robot frame.

Returns

robot-relative rotation

getZoneDimensions()

Transform3d[] jsim.api.GamepieceZone.getZoneDimensions ( )

inline

Returns a copy of the zone polygon transforms.

Returns

cloned zone dimension transforms

intake()

void jsim.api.GamepieceZone.intake ( LinearVelocity velocity, Rotation3d rotation )

inline

Enables intake mode with the provided exit settings.

Parameters

velocity	exit speed
rotation	exit orientation

outtake()

void jsim.api.GamepieceZone.outtake ( LinearVelocity velocity, Rotation3d rotation )

inline

Enables outtake mode with the provided exit settings.

Parameters

velocity	exit speed
rotation	exit orientation

refresh()

void jsim.api.GamepieceZone.refresh ( )

inline

Refreshes the zone mode from the configured supplier, if present.

setExitParameters() [1/2]

void jsim.api.GamepieceZone.setExitParameters ( LinearVelocity velocity )

inline

Sets exit parameters using a velocity and zero rotation.

Parameters

velocity

exit speed

setExitParameters() [2/2]

void jsim.api.GamepieceZone.setExitParameters ( LinearVelocity velocity, Rotation3d rotation )

inline

Sets exit parameters using a velocity and explicit rotation.

Parameters

velocity	exit speed
rotation	exit orientation

setMode()

void jsim.api.GamepieceZone.setMode ( Mode mode )

inline

Sets the zone mode directly.

Parameters

mode	the new zone mode

shoot()

void jsim.api.GamepieceZone.shoot ( LinearVelocity velocity, Rotation3d rotation )

inline

Enables shoot mode with the provided exit settings.

Parameters

velocity	exit speed
rotation	exit orientation

update()

void jsim.api.GamepieceZone.update ( )

inline

Advances the zone state for one simulation tick.

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

• src/main/java/jsim/api/GamepieceZone.java