magnus_model.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/math/vector.hpp"
 
namespace frcsim {

class MagnusModel {
 public:
  explicit MagnusModel(double magnus_coefficient = 1.0e-4)
      : magnus_coefficient_(magnus_coefficient) {}

  double magnusCoefficient() const { return magnus_coefficient_; }

  void setMagnusCoefficient(double coefficient) {
    magnus_coefficient_ = coefficient;
  }

  Vector3 computeForce(const Vector3& velocity_mps,
                       const Vector3& spin_radps) const {
    return Vector3::magnusForce(velocity_mps, spin_radps,
                                magnus_coefficient_);
  }
 
 private:
  double magnus_coefficient_{1.0e-4};
};
 
}  // namespace frcsim