Struct PhysicalHinge::InterBodyForce

• Defined in File PhysicalHinge.h

Nested Relationships

This struct is a nested type of Class PhysicalHinge.

Struct Documentation

struct InterBodyForce

Struct for inter-body force data at the hinge.

Public Functions

virtual ~InterBodyForce() = default

Public Members

bool _enable_interbody_force = false

flag that indicates whether inter-body forces should be computed for this hinge during the forward dynamics computation. Disabled by default.

km::SpatialVector _interbody_spforce

The interbody spatial force when computed by the forward dynamics algorithm (when the interbody force computation for this hinge has been enabled. The value is at the subhinge’s pframe (but expressed in the child body’s pnode frame. The getInterBodyForce() subhinge method make uses of this value when called.