RbLinearHillStretchReceptor.cpp

// RbLinearHillStretchReceptor.cpp: implementation of the RbLinearHillStretchReceptor class.
//

#include "StdAfx.h"
#include "RbMovableItem.h"
#include "RbBody.h"
#include "RbJoint.h"
#include "RbMotorizedJoint.h"
#include "RbRigidBody.h"
#include "RbLine.h"
#include "RbLinearHillStretchReceptor.h"
#include "RbSimulator.h"

namespace RoboticsAnimatSim
{
        namespace Environment
        {
                namespace Bodies
                {

// Construction/Destruction

RbLinearHillStretchReceptor::RbLinearHillStretchReceptor()
{
        SetThisPointers();
}

RbLinearHillStretchReceptor::~RbLinearHillStretchReceptor()
{

        try
        {
        }
        catch(...)
        {Std_TraceMsg(0, "Caught Error in desctructor of RbLinearHillStretchReceptor\r\n", "", -1, false, true);}
}

void RbLinearHillStretchReceptor::CreateParts()
{
        //We do nothing in createparts because we cannot build the line until after all parts are created
        //so we can get a handle to the attachment points.
}

void RbLinearHillStretchReceptor::CreateJoints()
{
        LinearHillStretchReceptor::CreateJoints();
        RbLine::CreateParts();

        m_fltIaRate = m_fltIaDischargeConstant*m_fltSeLength;
        m_fltIbRate = m_fltIbDischargeConstant*m_fltTension;
        m_fltIIRate = m_fltIIDischargeConstant*m_fltPeLength;
}

void RbLinearHillStretchReceptor::ResetSimulation()
{
        LinearHillStretchReceptor::ResetSimulation();
        RbLine::ResetSimulation();
}

void RbLinearHillStretchReceptor::AfterResetSimulation()
{
        LinearHillStretchReceptor::AfterResetSimulation();
        RbLine::AfterResetSimulation();
}

void RbLinearHillStretchReceptor::StepSimulation()
{
        CalculateTension();

        RbLine::StepSimulation(m_fltTension); 
}

                }               //Bodies
        }                       // Environment
}                               //RoboticsAnimatSim