Helios++
Helios software for LiDAR simulations
SimplePhysicsPlatform.h
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#pragma once
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#include "MovingPlatform.h"
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class
SimplePhysicsPlatform
:
public
MovingPlatform
{
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protected
:
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// *** ATTRIBUTES *** //
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// ******************** //
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glm::dvec3
mEngineForce
= glm::dvec3(0, 0, 0);
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glm::dvec3
mCfg_g_accel
= glm::dvec3(0, 0, -9.81);
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public
:
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double
mCfg_drag
= 1;
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// *** CONSTRUCTION / DESTRUCTION *** //
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// ************************************ //
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SimplePhysicsPlatform
() =
default
;
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std::shared_ptr<Platform> clone()
override
;
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void
_clone(std::shared_ptr<Platform> p)
override
;
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// *** M E T H O D S *** //
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// *********************** //
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void
doPhysicsStep
(
int
simFrequency_hz);
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void
doSimStep
(
int
simFrequency_hz)
override
;
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virtual
void
doControlStep
(
int
simFrequency_hz);
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};
SimplePhysicsPlatform
Class representing a simple phyiscs platform.
Definition:
SimplePhysicsPlatform.h:8
SimplePhysicsPlatform::doPhysicsStep
void doPhysicsStep(int simFrequency_hz)
Phyisics step for simple phyisics platform simulation.
Definition:
SimplePhysicsPlatform.cpp:20
SimplePhysicsPlatform::doSimStep
void doSimStep(int simFrequency_hz) override
Definition:
SimplePhysicsPlatform.cpp:30
SimplePhysicsPlatform::doControlStep
virtual void doControlStep(int simFrequency_hz)
Control step for simple phyisics platform simulation.
Definition:
SimplePhysicsPlatform.cpp:36
SimplePhysicsPlatform::mEngineForce
glm::dvec3 mEngineForce
Engine force vector.
Definition:
SimplePhysicsPlatform.h:15
SimplePhysicsPlatform::mCfg_drag
double mCfg_drag
Drag magnitude.
Definition:
SimplePhysicsPlatform.h:24
SimplePhysicsPlatform::mCfg_g_accel
glm::dvec3 mCfg_g_accel
Gravity acceleration vector.
Definition:
SimplePhysicsPlatform.h:19
SimplePhysicsPlatform::SimplePhysicsPlatform
SimplePhysicsPlatform()=default
Simple physics platform default constructor.
MovingPlatform
Class representing a moving platform.
Definition:
MovingPlatform.h:8
src
platform
SimplePhysicsPlatform.h
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