def F_bounce(self):
""" Force bouncing on the surface """
y_pos = self.state['position'][1]
y_vel = self.state['velocity'][1]
F_spring = -self.k_bounce * negdiff(y_pos, limit=Y_SURFACE)
c_damping = -self.c_bounce * below(y_pos, Y_SURFACE)
F_damping = c_damping * negdiff(y_vel, limit=0)
return np.array([0, F_spring + F_damping])
def test_1000(self):
val = soft.negdiff(self.vals[3], self.limit, scale=0.001)
self.assertEqual(val, 0)
def test_25(self):
val = soft.negdiff(self.vals[1], self.limit, scale=0.001)
self.assertEqual(val, self.vals[1] - self.limit)