CRigidCylinder.h

#ifndef C_RigidCylinder_H
#define C_RigidCylinder_H
 
#include "CRigidBody.h"
 
enum CylinderEnd
{
   OPEN,
   CLOSED,
   HALFSPHERE
};
 
namespace rigidbody
{
class CRigidCylinder : public CRigidBody
{
   public:
   CRigidCylinder();
   virtual ~CRigidCylinder();
   CRigidCylinder(double innerRadius, double outerRadius, double height, double mass, CylinderEnd end, const std::string& material);
   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:
   double iR; //inner radius
   double oR; //outer radius
   double h; //height
   double m; //mass
   double V; //volume
   CylinderEnd endType; //Enum: endtype
   std::string m_material;
};
}; // namespace rigidbody
#endif