Game Physics Engine Development, 2nd Edition

10.3 D’Alembert for Rotation 225

*/

class Spring : public ForceGenerator

{

/**

* The point of connection of the spring in local

* coordinates.

*/

Vector3 connectionPoint;

/**

* The point of connection of the spring to the other object

* in that object’s local coordinates.

*/

Vector3 otherConnectionPoint;

/** The particle at the other end of the spring. */

RigidBody *other;

/** Holds the spring constant. */

real springConstant;

/** Holds the rest length of the spring. */

real restLength;

public:

/** Creates a new spring with the given parameters. */

Spring(const Vector3 &localConnectionPt,

RigidBody *other,

const Vector3 &otherConnectionPt,

real springConstant,

real