public override void addPivot(Pivot pivot)
{
if (!onBeam(pivot.point))
throw new Exception("Attempted to add a point not on the beam");
base.addPivot(pivot);
}
public PivotController(RigidBodyController body, Pivot pivot)
{
this.body = body;
this.pivot = pivot;
body.addPivot(pivot);
}
public RigidBody(Matrix g)
{
forces = new ArrayList();
pivots = new ArrayList();
geometry = g;
deformations = new Matrix(g.getHeight(),g.getWidth());
transformations = new Matrix(g.getHeight(),g.getWidth());
cmPoint = new Pivot(new Point(), Pivot.Type.CM);
pivots.Add(cmPoint);
}
public Matrix transformations; //Matrix to define the transformaions of the body.
#endregion Fields
#region Constructors
public RigidBody()
{
geometry = null;
deformations = null;
transformations = null;
forces = new ArrayList();
pivots = new ArrayList();
cmPoint = new Pivot(new Point(), Pivot.Type.CM);
pivots.Add(cmPoint);
}
public Beam(Point A, Point B)
{
Matrix max = new Matrix(2,2);
if (A.x <= B.x){
max[0][0] = A.x;
max[0][1] = A.y;
max[1][0] = B.x;
max[1][1] = B.y;
}else{
max[0][0] = B.x;
max[0][1] = B.y;
max[1][0] = A.x;
max[1][1] = A.y;
}
geometry = max;
//the center of mass is half way bettween the two end points
Pivot cm = new Pivot(new Point((A.x + B.y)/2.0,(A.x + B.y)/2.0), Pivot.Type.CM);
setCenterOfMass(cm);
}
public void setCenterOfMass(Pivot pivot)
{
pivots.Remove(cmPoint);
cmPoint = pivot;
pivots.Add(cmPoint);
}
public virtual void addPivot(Pivot pivot)
{
pivots.Add(pivot);
}