File gravityForce.h

class gravityForce : public baseForce

Public Functions

gravityForce(const shared_ptr<softRobots> &soft_robots, Vector3d g_vector)

~gravityForce() override

virtual void computeForce(double dt) override

virtual void computeForceAndJacobian(double dt) override

Private Functions

void setGravity()

Private Members

Vector3d g_vector

vector<VectorXd> mass_gravities

VectorXd mass_gravity