Physical Engine Interface

' Michael Zhu Date: January 06, 2017

1 Structural analysis 1.1 class definitions

• Hockey Class: Class Puck
• Ball Table class: Class table
• Batter class: Class Hockey_stick

1.2 Key functions

According to the above class, and the following requirements:

Input: The current position and speed of the batter (controlled by the robot). Output: The current position and speed of the puck. It is known that the key functions are collision detection and velocity calculation after collisions. One of the difficulties is collision detection.

• void Check_collision ();//Check for collisions
• void Update_position ();//Update location
• void Update_velocity ();//update speed

2 Interface Design

The physics engine is a relatively independent piece that simply provides a simple interface to the GUI and policy.

2.1 Algorithm Interface

• void Puckstep ();//Update physical state

2.2 Data Interface

Hockey:

• Double radius;
• Double Position[axis_count];
• Double Velocity[axis_count];
• Double mass; Corresponds to a parameter in common and passes the argument to the variable in common each time.

Ball Table:

• Double length;
• Double width;
• Double goalline1;
• Double Goalline2;

Ball Sticks:

• Double radius;
• Double mass;
• Double Pre_position[axis_count], Cur_position[axis_count];

• Double Velocity[axis_count]; The above is the parameter in the class.

• static double Default_puck_radius = 0;

• static double default_puck_mass = 0;

• static double default_table_length = 0;

• static double default_table_width = 0;

• static double Default_hockey_stick_radius = 0;

• static double default_hockey_stick_mass = 0;

• static double default_goal_length1 = 0;

• static double default_goal_length2 = 0; The above parameters are preset values, and other modules can be used directly.

Physical Engine Interface