frcsim::GravityForce Class Reference

Force generator that applies constant gravity acceleration to a body. More...

#include <gravity.hpp>

Inheritance diagram for frcsim::GravityForce:

Public Member Functions
	GravityForce (const Vector3 &gravity_mps2)
	Constructs gravity force generator.
void	apply (RigidBody &body, double dt_s) const override
	Applies gravitational force to a rigid body (mass × gravity).
Public Member Functions inherited from frcsim::ForceGenerator
virtual	~ForceGenerator ()=default

Detailed Description

Force generator that applies constant gravity acceleration to a body.

The gravitational force applied is mass × gravity_mps2, where gravity_mps2 is typically {0, 0, -9.81} m/s^2 for downward Earth gravity.

Constructor & Destructor Documentation

GravityForce()

frcsim::GravityForce::GravityForce ( const Vector3 & gravity_mps2 )

inlineexplicit

Constructs gravity force generator.

Parameters

gravity_mps2

Acceleration vector in m/s^2 (typically pointing downward).

Member Function Documentation

apply()

void frcsim::GravityForce::apply ( RigidBody & body, double dt_s ) const

inlineoverridevirtual

Applies gravitational force to a rigid body (mass × gravity).

Parameters

body	Rigid body to apply gravity to; kinematic bodies are skipped.
dt_s	Timestep duration (unused).

Implements frcsim::ForceGenerator.

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

• src/main/driver/include/frcsim/forces/gravity.hpp