Package jsim.forces

Class ActuatorForce

java.lang.Object
jsim.forces.ActuatorForce
All Implemented Interfaces:
ForceGenerator
public final class ActuatorForce extends Object implements ForceGenerator
Force generator that represents a motor, pneumatic, or other actuator.

Robot code sets the desired force/torque via setForce(double, double, double) and setTorque(double, double, double) each control loop; the simulation picks up the latest values on the next physics tick. All values are in world frame unless the body does not rotate (e.g. using FIXED_ROTATION).

To model a drivetrain motor, create one ActuatorForce per wheel and set the wheel's traction force each tick based on motor output voltage and the drive model.

  • Constructor Summary

    Constructors
    Constructor
    Description
    ActuatorForce(RigidBody body)
    Create an actuator for the given rigid body.

  • Method Summary

    Modifier and Type
    Method
    Description
    void
    apply(double dt)
    Apply forces/torques to whichever bodies this generator influences.
    void
    setForce(double fx, double fy, double fz)
    Set the world-frame force to apply at the body's centre of mass (N).
    void
    setForceAtPoint(double fx, double fy, double fz, double px, double py, double pz)
    Set the force and its world-space application point (generates torque automatically).
    void
    setTorque(double tx, double ty, double tz)
    Set the world-frame torque to apply directly (N·m).
    void
    zero()
    Clear all actuator forces and torques (e.g.

    Methods inherited from class java.lang.Object

    clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

  • Constructor Details

    • ActuatorForce

      public ActuatorForce(RigidBody body)
      Create an actuator for the given rigid body.
      Parameters:
      body - the rigid body this actuator drives

  • Method Details

    • setForce

      public void setForce(double fx, double fy, double fz)
      Set the world-frame force to apply at the body's centre of mass (N).
      Parameters:
      fx - X component (N)
      fy - Y component (N)
      fz - Z component (N)

    • setTorque

      public void setTorque(double tx, double ty, double tz)
      Set the world-frame torque to apply directly (N·m).
      Parameters:
      tx - X component (N·m)
      ty - Y component (N·m)
      tz - Z component (N·m)

    • setForceAtPoint

      public void setForceAtPoint(double fx, double fy, double fz, double px, double py, double pz)
      Set the force and its world-space application point (generates torque automatically).
      Parameters:
      fx - force X component (N)
      fy - force Y component (N)
      fz - force Z component (N)
      px - application point X (metres)
      py - application point Y (metres)
      pz - application point Z (metres)

    • zero

      public void zero()
      Clear all actuator forces and torques (e.g. on disable).

    • apply

      public void apply(double dt)
      Description copied from interface: ForceGenerator
      Apply forces/torques to whichever bodies this generator influences.
      Specified by:
      apply in interface ForceGenerator
      Parameters:
      dt - the fixed simulation timestep in seconds