SimTK::Force::TwoPointLinearSpring Class Reference

A linear spring between two points, specified as a station on each of two bodies. More...

#include <Force.h>

Inheritance diagram for SimTK::Force::TwoPointLinearSpring:

List of all members.

Public Member Functions
	TwoPointLinearSpring (GeneralForceSubsystem &forces, const MobilizedBody &body1, const Vec3 &station1, const MobilizedBody &body2, const Vec3 &station2, Real k, Real x0)
	Create a TwoPointLinearSpring.
	TwoPointLinearSpring ()
	Default constructor creates an empty handle.
	SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS (TwoPointLinearSpring, TwoPointLinearSpringImpl, Force)

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Detailed Description

A linear spring between two points, specified as a station on each of two bodies.

The stiffness k and unstretched length x0 are provided. Then if d is the unit vector from point1 to point2, and x the current separation, we have f = k(x-x0) and we apply a force f*d to point1 and -f*d to point2. This contributes to potential energy: pe = 1/2 k (x-x0)^2. It is an error if the two points become coincident, since we are unable to determine a direction for the force in that case.

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Constructor & Destructor Documentation

SimTK::Force::TwoPointLinearSpring::TwoPointLinearSpring	(	GeneralForceSubsystem &	forces,
		const MobilizedBody &	body1,
		const Vec3 &	station1,
		const MobilizedBody &	body2,
		const Vec3 &	station2,
		Real	k,
		Real	x0
	)

Create a TwoPointLinearSpring.

Parameters:

forces	the subsystem to which this force should be added
body1	the first body to which the force should be applied
station1	the location on the first body at which the force should be applied
body2	the second body to which the force should be applied
station2	the location on the second body at which the force should be applied
k	the spring constant
x0	the distance at which the force is 0

SimTK::Force::TwoPointLinearSpring::TwoPointLinearSpring

(

)

[inline]

Default constructor creates an empty handle.

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Member Function Documentation

SimTK::Force::TwoPointLinearSpring::SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS	(	TwoPointLinearSpring	,
		TwoPointLinearSpringImpl	,
		Force
	)

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

• Force.h