com.kuka.math.physics
Class PhysicsUtils

java.lang.Object
  com.kuka.math.physics.PhysicsUtils

public final class PhysicsUtils
extends Object

Utility class for physical calculations.

Field Summary

static double

ZERO_MASS_THRESHOLD_KG The default threshold in [kg] when a mass will be considered zero.

Method Summary

static Vector3D	combinedCenterOfMass(double mass1, Vector3D com1, double mass2, Vector3D com2) Calculates the combined center of mass of two objects.
static InertiaTensor	joinTensors(double mass1, Vector3D com1, InertiaTensor inertia1, double mass2, Vector3D com2, InertiaTensor inertia2) Joints two tensor values and calculates the resulting tensor.

Methods inherited from class java.lang.Object

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

Field Detail

ZERO_MASS_THRESHOLD_KG

public static final double ZERO_MASS_THRESHOLD_KG

The default threshold in [kg] when a mass will be considered zero.

See Also:

Constant Field Values

Method Detail

combinedCenterOfMass

public static Vector3D combinedCenterOfMass(double mass1,
                                            Vector3D com1,
                                            double mass2,
                                            Vector3D com2)

Calculates the combined center of mass of two objects. The combined mass must not be equal or near to zero.

Parameters:

mass1 - Mass of object 1 in [kg]

com1 - Center of mass translation of object 1

mass2 - Mass of object 2 in [kg]

com2 - Center of mass translation of object 2

Returns:

Combined center of mass translation

joinTensors

public static InertiaTensor joinTensors(double mass1,
                                        Vector3D com1,
                                        InertiaTensor inertia1,
                                        double mass2,
                                        Vector3D com2,
                                        InertiaTensor inertia2)

Joints two tensor values and calculates the resulting tensor.

The two tensors need to be defined in the same system as well as the two transformations of the center of masses.

Parameters:

mass1 - The mass of object 1 in [kg].

com1 - The center of mass translation of object 1.

inertia1 - The inertia tensor of object 1.

mass2 - The mass of object 2 in [kg].

com2 - The center of mass translation of object 2.

inertia2 - The inertia tensor of object 2.

Returns:

The resulting tensor in the combined center of mass.