tgSpringCable Class Reference

#include <tgSpringCable.h>

Inheritance diagram for tgSpringCable:

Public Member Functions
	tgSpringCable (const std::vector< tgSpringCableAnchor * > &anchors, double coefK, double dampingCoefficient, double pretension=0.0)
virtual	~tgSpringCable ()
virtual void	step (double dt)=0
virtual const double	getRestLength () const
virtual void	setRestLength (const double newRestLength)
virtual const double	getActualLength () const =0
virtual const double	getTension () const =0
virtual const double	getCoefK () const
virtual const double	getCoefD () const
virtual const double	getVelocity () const
virtual const double	getDamping () const
virtual const std::vector < const tgSpringCableAnchor * >	getAnchors () const =0

Protected Attributes
double	m_damping
double	m_velocity
const double	m_coefK
const double	m_dampingCoefficient
double	m_restLength
double	m_prevLength

Detailed Description

An abstract base class defining the interface for a spring cable model. This either represents a long elastic member, or a stiff cable connected to a more flexible spring.

Definition at line 40 of file tgSpringCable.h.

Constructor & Destructor Documentation

tgSpringCable::tgSpringCable	(	const std::vector< tgSpringCableAnchor * > &	anchors,
		double	coefK,
		double	dampingCoefficient,
		double	pretension = 0.0
	)

The only constructor. Takes a list of anchors, a coefficient of stiffness, a coefficent of damping, and optionally the amount of pretension in the cable

Parameters

[in]	anchors	- a list of this spring cable's attachements
[in]	coefK	- the stiffness of the spring. Must be positive
[in]	dampingCoefficient	- the damping in the spring. Must be non-negative
[in]	pretension	- must be small enough to keep the rest length positive

Definition at line 33 of file tgSpringCable.cpp.

tgSpringCable::~tgSpringCable ( )

virtual

The virtual destructor. Does nothing

Definition at line 62 of file tgSpringCable.cpp.

Member Function Documentation

virtual const double tgSpringCable::getActualLength ( ) const

pure virtual

Pure virtual funciton, returns the actual length of the spring cable

Implemented in tgBulletContactSpringCable, and tgBulletSpringCable.

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virtual const std::vector<const tgSpringCableAnchor*> tgSpringCable::getAnchors ( ) const

pure virtual

Child classes will store their type of anchors, but should always define a way to return a vector of base anchors

Implemented in tgBulletSpringCable.

virtual const double tgSpringCable::getCoefD ( ) const

inlinevirtual

Get the coefficent of damping

Definition at line 103 of file tgSpringCable.h.

virtual const double tgSpringCable::getCoefK ( ) const

inlinevirtual

Get the coefficent of stiffness

Definition at line 95 of file tgSpringCable.h.

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virtual const double tgSpringCable::getDamping ( ) const

inlinevirtual

Get the last value of the damping force

Definition at line 119 of file tgSpringCable.h.

const double tgSpringCable::getRestLength ( ) const

virtual

Returns m_restLength

Definition at line 66 of file tgSpringCable.cpp.

virtual const double tgSpringCable::getTension ( ) const

pure virtual

Pure virtual function, returns the current tension

Implemented in tgBulletSpringCable.

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virtual const double tgSpringCable::getVelocity ( ) const

inlinevirtual

Get the last change in length / time

Definition at line 111 of file tgSpringCable.h.

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void tgSpringCable::setRestLength ( const double  newRestLength )

virtual

Sets m_restLength to newRestLength.

Parameters

[in]

newRestLength,must

be non-negative

Definition at line 71 of file tgSpringCable.cpp.

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virtual void tgSpringCable::step ( double  dt )

pure virtual

The function called by model classes to update this class for a given step

Parameters

[in]

dt

- elapsed time since the last step

Implemented in tgBulletContactSpringCable, and tgBulletSpringCable.

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Member Data Documentation

const double tgSpringCable::m_coefK

protected

The stiffness coefficient Units of mass / sec ^2 Must be positive

Definition at line 149 of file tgSpringCable.h.

double tgSpringCable::m_damping

protected

The previous value of the damping force. Stored so we can get it without passing a dt

Definition at line 136 of file tgSpringCable.h.

const double tgSpringCable::m_dampingCoefficient

protected

The damping coefficient. Units of mass / sec. Must be non-negative

Definition at line 156 of file tgSpringCable.h.

double tgSpringCable::m_prevLength

protected

The previous actual length of the string. Used when calculating force and velocity

Definition at line 168 of file tgSpringCable.h.

double tgSpringCable::m_restLength

protected

The rest length of the string. Must be non negative

Definition at line 162 of file tgSpringCable.h.

double tgSpringCable::m_velocity

protected

The velocity of the string at the last update step. Stored so we can get it without passing a dt

Definition at line 142 of file tgSpringCable.h.

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

• core/tgSpringCable.h
• core/tgSpringCable.cpp