Program Listing for File SpringDamper.h

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#pragmaonce
#include"Karana/Frame/ChainedFrameToFrame.h"
#include"Karana/SOADyn/KModel.h"
#include"Karana/SOADyn/Node.h"

namespaceKarana::Models{

namespacekm=Karana::Math;
namespacekd=Karana::Dynamics;
namespacekf=Karana::Frame;

classSpringDamperParams:publicKModelParams{
public:
SpringDamperParams(std::string_viewname);

boolisFinalized()constfinal;

std::string
dumpString(std::string_viewprefix,
constKarana::Core::Base::DumpOptions*options=nullptr)constoverride;

doubleunsprung_length;

doublek;

doubled;
};

classSpringDamperScratch:publicKModelScratch{
public:
SpringDamperScratch(std::string_viewname);

km::Vec3offset;

doubleposition_error=km::uninitializedNaN;

km::Vec3velocity_error;

doublestiffness_force=km::uninitializedNaN;

km::Vec3damping_force;

km::Vec3total_force;

std::string
dumpString(std::string_viewprefix,
constKarana::Core::Base::DumpOptions*options=nullptr)constoverride;
};

classSpringDamper:publicKModel<SpringDamper,SpringDamperParams,SpringDamperScratch>{
public:
SpringDamper(std::string_viewname,
constkc::ks_ptr<kd::StatePropagator>&sp,
constkc::ks_ptr<kd::Node>nd1,
constkc::ks_ptr<kd::Node>nd2);

~SpringDamper();

statickc::ks_ptr<SpringDamper>create(std::string_viewname,
constkc::ks_ptr<kd::StatePropagator>&sp,
constkc::ks_ptr<kd::Node>nd1,
constkc::ks_ptr<kd::Node>nd2);

voidpreDeriv(constkm::Ktime&t,constkm::Vec&x);

std::vector<kc::id_t>getNodeIds();

constkc::ks_ptr<kd::Node>&sourceNode()const;

constkc::ks_ptr<kd::Node>&targetNode()const;

private:
kc::ks_ptr<kd::Node>_nd1;

kc::ks_ptr<kd::Node>_nd2;

kc::ks_ptr<kf::ChainedFrameToFrame>_f2f1;

kc::ks_ptr<kf::ChainedFrameToFrame>_f2f2;

kc::ks_ptr<kf::Frame>_newton;
};
}//namespaceKarana::Models