qtrbconn.h Source File

00001 /*
00002     Dynamics/Kinematics modeling and simulation library.
00003     Copyright (C) 1999 by Michael Alexander Ewert and Noah Gibbs
00004 
00005     This library is free software; you can redistribute it and/or
00006     modify it under the terms of the GNU Library General Public
00007     License as published by the Free Software Foundation; either
00008     version 2 of the License, or (at your option) any later version.
00009 
00010     This library is distributed in the hope that it will be useful,
00011     but WITHOUT ANY WARRANTY; without even the implied warranty of
00012     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
00013     Library General Public License for more details.
00014 
00015     You should have received a copy of the GNU Library General Public
00016     License along with this library; if not, write to the Free
00017     Software Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
00018 
00019 */
00020 
00021 #ifndef __CT_QUATRIGIDBODYCONNECTOR_H__
00022 #define __CT_QUATRIGIDBODYCONNECTOR_H__
00023 
00024 #include "csphyzik/phyztype.h"
00025 #include "csphyzik/entity.h"
00026 #include "csphyzik/ctquat.h"
00027 #include "csgeom/quaterni.h"
00028 #include "csphyzik/point.h"
00029 
00030 class ctQuatRigidBody;
00031 
00032 class ctQuatRigidBodyConnector : public ctPointObj
00033 {
00034   ctQuatRigidBody *rigid;
00036   ctVector3 r;
00037 
00038  public:
00039   ctQuatRigidBodyConnector (ctQuatRigidBody *rb, ctVector3 offset);
00040   ~ctQuatRigidBodyConnector() {}
00041 
00042   ctVector3 pos ();
00043   ctVector3 vel ();
00044 
00045   void apply_force (ctVector3 F);
00046 
00047   int num_state_vars ();
00048   int state_index (int i);
00049   ctVector3 dp (int i);
00050   ctVector3 dpdot (int i);
00051 };
00052 
00053 #endif // __CT_QUATRIGIDBODYCONNECTOR_H__