spring_force.hpp

Go to the documentation of this file.

// 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"
 
namespace frcsim {
 
class RigidBody;

class SpringForce : public ForceGenerator {
public:
    SpringForce(RigidBody* otherBody, const Vector3& localConnectionPoint, const Vector3& otherConnectionPoint, double springConstant, double restLength);
    
    virtual ~SpringForce() = default;

    void UpdateForce(double duration) override;
 
private:
    RigidBody* m_otherBody;
    Vector3 m_localConnectionPoint;
    Vector3 m_otherConnectionPoint;
    double m_springConstant;
    double m_restLength;
};
 
inline SpringForce::SpringForce(RigidBody* otherBody, const Vector3& localConnectionPoint, const Vector3& otherConnectionPoint, double springConstant, double restLength)
    : m_otherBody(otherBody), m_localConnectionPoint(localConnectionPoint), m_otherConnectionPoint(otherConnectionPoint), m_springConstant(springConstant), m_restLength(restLength) {}
 
inline void SpringForce::UpdateForce(double duration) {
    // Implementation placeholder
}
 
} // namespace frcsim