Biomechanical Joint Model  Author: Anderson Maciel

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comemoleculesbone.h

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/***************************************************************************
 *   Copyright (C) 2002 by Anderson Maciel                                 *
 *   andi.maciel@gmail.com                                                 *
 *                                                                         *
 *   This program is free software; you can redistribute it and/or modify  *
 *   it under the terms of the GNU General Public License as published by  *
 *   the Free Software Foundation; either version 2 of the License, or     *
 *   (at your option) any later version.                                   *
 *                                                                         *
 *   This program is distributed in the hope that it will be useful,       *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
 *   GNU General Public License for more details.                          *
 *                                                                         *
 *   You should have received a copy of the GNU General Public License     *
 *   along with this program; if not, write to the                         *
 *   Free Software Foundation, Inc.,                                       *
 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
 **************************************************************************/

//
//  PROJECT.....: CO-ME
//  RESPONSIBLE.: 
//
//  AUTHOR......: Anderson Maciel
//  DATE........: October/24/2002
//  DESCRIPTION.: Class declaration.
//

#ifndef __COME_MOLECULESBONE_H  
#define __COME_MOLECULESBONE_H  



#include <bio/comemoleculestissue.h>
#include <bio/comebone.h>
#include <algebra/comematrix.h>



class COME_MoleculesBone : public COME_Bone {

protected:

        COME_MoleculesTissue    *tissue;
        COME_Matrix                             rotationMatrix;
        COME_Matrix                             inertiaTensor;
        COME_Point3D                            massCenter;
        COME_Vector3D                           linearVelocity;
        COME_Vector3D                           angularVelocity;

public:

        COME_MoleculesBone();
        ~COME_MoleculesBone();

        void    setTissue( COME_MoleculesTissue *tissueN );
        void    setMassCenter( const COME_Point3D& massC );

        COME_MoleculesTissue    *getTissue();
        COME_Point3D                            getMassCenter() const;

        void    getEnvelop( COME_Point3D& mins, COME_Point3D& maxs );

        void    updateInertiaTensor( double discretization );
        void    updateMassCenter();
        bool    update( double timestep, double simClock );
        void    updateSurface( bool regenerate );
        void    updateSurface( double skinSphere, double stiff, double resolution );
        void    updateSkin();
        
        void    generateEnvelopSurface();
        void    initializeSkinning();
        void    respondCollision();

        void    derivs( double currTime, double timestep, COME_Point3D *X, COME_Vector3D *L, COME_Vector3D *P, COME_Matrix *R, COME_Vector3D *V, COME_Vector3D *F, COME_Vector3D *T, COME_Vector3D *W );


};

#endif // __COME_MOLECULESBONE_H

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