File uniformConstantForce.h

class uniformConstantForce : public baseForce

Public Functions

uniformConstantForce(const shared_ptr<softRobots> &m_soft_robots)

~uniformConstantForce() override

void add_force_to_limb(int limb_idx, const Vector3d &force)

virtual void computeForce(double dt) override

virtual void computeForceAndJacobian(double dt) override

Private Members

vector<pair<int, Vector3d>> limb_force_pairs