ContactSpringDamper.h

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#ifndef CONTACT_SPRING_DAMPER_H
#define CONTACT_SPRING_DAMPER_H

#include "ContactConstraint.h"
#include "Dynamics/FloatingBaseModel.h"

template <typename T>
class ContactSpringDamper : public ContactConstraint<T> {
 public:
  ContactSpringDamper(FloatingBaseModel<T>* model)
      : ContactConstraint<T>(model) {
    _nGC = CC::_model->_nGroundContact;
    for (size_t i(0); i < _nGC; ++i) {
      _tangentialDeflections.push_back(Vec2<T>::Zero());
    }
    deflectionRate.resize(_nGC);
  }

  virtual ~ContactSpringDamper() {}

  virtual void UpdateExternalForces(T K, T D, T dt);
  virtual void UpdateQdot(FBModelState<T>& state) {
    (void)state; /* Do nothing */
  }

 protected:
  size_t _nGC;

  void _groundContactWithOffset(T K, T D);

  vectorAligned<Vec2<T>> deflectionRate;
  vectorAligned<Vec2<T>> _tangentialDeflections;
};

#endif