Package jsim.forces

Class GravityForce

java.lang.Object

jsim.forces.GravityForce

All Implemented Interfaces:

ForceGenerator

public final class GravityForce
extends Object
implements ForceGenerator

Applies gravitational acceleration to all dynamic, non-static bodies.

Gravity is uniform (not per-body — attach a custom ForceGenerator for buoyancy or other per-body gravity modifications).

Constructor Summary

Constructors

Constructor	Description
GravityForce(List<RigidBody> bodies)	Default gravity pointing in −Z (WPILib field convention).
GravityForce(List<RigidBody> bodies, double gx, double gy, double gz)	Gravity with a custom acceleration vector.

Method Summary

Modifier and Type	Method	Description
void	apply(double dt)	Apply forces/torques to whichever bodies this generator influences.

Methods inherited from class java.lang.Object

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

Constructor Details

GravityForce

public GravityForce(List<RigidBody> bodies)

Default gravity pointing in −Z (WPILib field convention).

Parameters:

bodies - all bodies to apply gravity to

GravityForce

public GravityForce(List<RigidBody> bodies,
 double gx,
 double gy,
 double gz)

Gravity with a custom acceleration vector.

Parameters:

bodies - all bodies to apply gravity to

gx - gravitational acceleration X component (m/s²)

gy - gravitational acceleration Y component (m/s²)

gz - gravitational acceleration Z component (m/s²)

Method Details

apply

public void apply(double dt)

Description copied from interface: ForceGenerator

Apply forces/torques to whichever bodies this generator influences.

Specified by:

apply in interface ForceGenerator

Parameters:

dt - the fixed simulation timestep in seconds