gravity.hpp

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// Copyright (c) JSim contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the LGPLv3 license file in the root directory of this project.
 
#pragma once
 
#include "frcsim/forces/force_generator.hpp"
#include "frcsim/math/vector.hpp"
#include "frcsim/rigidbody/rigid_body.hpp"
 
namespace frcsim {

class GravityForce : public ForceGenerator {
 public:
  explicit GravityForce(const Vector3& gravity_mps2)
      : gravity_mps2_(gravity_mps2) {}

  void apply(RigidBody& body, [[maybe_unused]] double dt_s) const override {
    if (body.flags().is_kinematic)
      return;
    body.applyForce(gravity_mps2_ * body.massKg());
  }
 
 private:
  Vector3 gravity_mps2_{};
};
 
}  // namespace frcsim