double_pendulum_system.h

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//
// Created by alex on 11/15/25.
//
 
#ifndef DOUBLE_PENDULUM_SYSTEM_H
#define DOUBLE_PENDULUM_SYSTEM_H
 
#include "bitrl/bitrl_config.h"
 
#ifdef BITRL_CHRONO
 
#include "bitrl/bitrl_types.h"
#include <chrono/physics/ChSystemNSC.h>
//#include <chrono/physics/ChBodyEasy.h>
//#include <chrono/physics/ChLinkRevolute.h>
//#include <chrono/utils/ChUtilsCreators.h>
 
namespace bitrl
{
namespace systems
{
struct DoublePendulumProperties
{
    real_t l1 = 1.0;
    real_t l2 = 1.0;
    real_t r1 = 1.0;
    real_t r2 = 1.0;
    real_t density = 1000.;
};
class DoublePendulumSystem
{
  public:
    DoublePendulumSystem();
 
    void build_system(const DoublePendulumProperties &props);
 
    void enable_gravity();
 
    bool has_gravity_enabled() const noexcept { return gravity_enabled_; }
    bool is_initialized() const noexcept { return is_initialized_; }
 
  protected:
    chrono::ChSystemNSC system_;
 
  private:
    bool gravity_enabled_{false};
    bool is_initialized_{false};
};
} // namespace systems
} // namespace bitrl
 
#endif
#endif // DOUBLE_PENDULUM_SYSTEM_H