CRigidPolyplate.h

#ifndef C_RigidPolyplate_H
#define C_RigidPolyplate_H
 
#include "CRigidBody.h"
#include "PolyplateSpec.h"
 
namespace rigidbody
{
class CRigidPolyplate : public CRigidBody
{
   public:
   virtual ~CRigidPolyplate();
   CRigidPolyplate(PolyplateSpec& plateSpec);
   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
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
   protected:
   PolyplateSpec m_spec; 
};
}; // namespace rigidbody
#endif