Add per-body gravity compensation (buoyancy) passive force.

PiperOrigin-RevId: 485342531 Change-Id: Icb3e6bb5080b6ef17a3d3b1cc67e0503cfeaeffb
2022-11-01 09:47:13 -07:00
parent c7960385be
commit 23092a11d7
18 changed files with 233 additions and 10 deletions
@@ -1690,6 +1690,11 @@ defined. Its body name is automatically defined as "world".
   unit quaternion, thus specifying it is optional even in local coordinates. If the body frame was copied from the body
   inertial frame per the above rules, the copy operation applies to both position and orientation, and the setting of
   the orientation-related attributes is ignored.
+:at:`gravcomp`: :at-val:`real, "0"`
+  Gravity compensation force, specified as fraction of body weight. This attribute creates an upwards force applied to
+  the body's center of mass, countering the force of gravity. As an example, a value of ``1`` creates an upward force
+  equal to the body's weight and compensates for gravity exactly. Values greater than ``1`` will create a net upwards
+  force or buoyancy effect.
 :at:`user`: :at-val:`real(nbody_user), "0 0 ..."`
   See :ref:`CUser`.