palSpring Class Reference

#include <palActuators.h>

Inheritance diagram for palSpring:

List of all members.

Public Member Functions

void Init (palBody *pb1, palBody *pb2, float rest_length, float Ks, float Kd)

void Apply ()

Detailed Description

A spring. A spring exerts a force on two connected bodies, according to Hook's law.

$f_a = -k_s (|L| - R) + k_d \frac{\dot L \bullet L}{|L|} \frac{L}{|L|}$

$f_b = -f_a$

The above equations represent the force that is applied to two bodies (a and b). Where $k_s$ is the spring constant. ("stiffness") $k_d$ is the damping constant. $R$ is the resting length of the spring. $L$ is the distance between the two bodies. and $\dot L$ is the difference between the two bodies velocities.

Member Function Documentation

void palSpring::Apply ( ) [virtual]

Ensures the actuator operates for the current time step

Implements palActuator.

void palSpring::Init	(	palBody *	pb1,
		palBody *	pb2,
		float	rest_length,
		float	Ks,
		float	Kd
	)			`[inline]`

Initializes the spring.

Parameters:

	pb1	The body to connect the spring to (1)
	pb2	The body to connect the spring to (2)
	rest_length	The resting length of the spring.
	Ks	The spring constant.
	Kd	The damping constant.

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

/var/www/hosted/adrianboeing.com/pal/current/pal/pal/pal/palActuators.h
/var/www/hosted/adrianboeing.com/pal/current/pal/pal/pal/palActuators.cpp


Public Member Functions
void	Init (palBody pb1, palBody pb2, float rest_length, float Ks, float Kd)
void	Apply ()