CRigidCompositeBody.h

#ifndef CRigidCompositeBody_H
#define CRigidCompositeBody_H
 
#include "CRigidBody.h"
 
#include <list>
using std::list;
 
namespace rigidbody
{
class CRigidCompositeBody : public CRigidBody
{
   public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
   struct rbody
   {
      CRigidBody* body;
      vec6 orientation;
   };
   CRigidCompositeBody();
   ~CRigidCompositeBody();
   void AddComponent(CRigidBody* component, const vec6& orientation);
   mat6 GetInertiaMatrix(const vec3& r, double time, const double* states, environment::EnvironmentProvider* environment);
   vec6 GetInternalForces(const vec6& dX, const vec3& r, const quat& q, environment::EnvironmentProvider* environment, double time, const double* states);
   mat64 GetGravityForceDerivative(const quat& q);
 
 
#ifdef FH_VISUALIZATION
   void DrawBody(Ogre::SceneNode* renderNode, Ogre::SceneManager* sceneMgr);
#endif
 
   protected:
   static quat ComponentQuaternion(const vec3& thetaC);
 
   list<rbody, Eigen::aligned_allocator<rbody>> clist;
   mat6 m_inertia;
};
}; // namespace rigidbody
#endif