/* public HMMWV_ShockForce(double midstroke_compression_slope,
* double midstroke_rebound_slope,
* double bumpstop_compression_slope,
* double bumpstop_rebound_slope,
* double metalmetal_slope,
* double min_bumpstop_compression_force,
* double midstroke_lower_bound,
* double midstroke_upper_bound,
* double metalmetal_lower_bound,
* double metalmetal_upper_bound)
* {
* m_ms_compr = midstroke_compression_slope;
* m_ms_rebound = midstroke_rebound_slope;
* m_bs_compr = bumpstop_compression_slope;
* m_bs_rebound = bumpstop_rebound_slope;
* m_metal_K = metalmetal_slope;
* m_F0 = min_bumpstop_compression_force;
* m_ms_min_length = midstroke_lower_bound;
* m_ms_max_length = midstroke_upper_bound;
* m_min_length = metalmetal_lower_bound;
* m_max_length = metalmetal_upper_bound;
* }*/
public override double this[double time, //< current time
double rest_length, //< undeformed length
double length, //< current length
double vel, //< current velocity (positive when extending)
ChLinkSpringCB link //< back-pointer to associated link
]
{
get {
double force = 0;
// Calculate Damping Force
if (vel >= 0)
{
force = (length >= m_ms_max_length) ? -m_bs_rebound * vel : -m_ms_rebound * vel;
}
else
{
force = (length <= m_ms_min_length) ? -m_bs_compr * vel : -m_ms_compr * vel;
}
// Add in Shock metal to metal contact force
if (length <= m_min_length)
{
force = m_metal_K * (m_min_length - length);
}
else if (length >= m_max_length)
{
force = -m_metal_K * (length - m_max_length);
}
return(force);
}
}
/// Calculate and return the general spring-damper force at the specified configuration.
public virtual double this[double time, //< current time
double rest_length, //< undeformed length
double length, //< current length
double vel, //< current velocity (positive when extending)
ChLinkSpringCB link //< back-pointer to associated link
]
{
get { return(0); }
}
// public LinearSpringForce(double k) { m_k = k; }
public override double this[double time,
double rest_length,
double length,
double vel,
ChLinkSpringCB link]
{
get
{
return(-m_k * (length - rest_length));
}
}
public override double this[double time, // current time
double rest_length, // undeformed length
double length, // current length
double vel, // current velocity (positive when extending)
ChLinkSpringCB link // back-pointer to associated link
]
{
get
{
double force = -spring_coef * (length - rest_length) - damping_coef * vel;
return(force);
}
}
public ChLinkSpringCB(ChLinkSpringCB other)
{
m_rest_length = other.m_rest_length;
m_force = other.m_force;
m_force_fun = other.m_force_fun; //// do we need a deep copy?
}
