Body.h

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/*
Body header file
 
Author: Alex Reynolds
*/
#ifndef FRAMES_BODY_H
#define FRAMES_BODY_H
 
#include "Node.h"
 
namespace warptwin {

    class Body : public Frame {
    public:
        Body(const std::string &name, Frame* par=nullptr);

        clockwerk::DataIO<floating_point> mass = clockwerk::DataIO<floating_point>(nullptr, "mass", 1.0);
        clockwerk::DataIO<clockwerk::Matrix<3, 3>> inertia = clockwerk::DataIO<clockwerk::Matrix<3, 3>>(nullptr, "inertia", 
                          clockwerk::Matrix<3, 3>({{1.0,0.0,0.0},{0.0,1.0,0.0},{0.0,0.0,1.0}}));
        clockwerk::DataIO<floating_point> composite_mass = clockwerk::DataIO<floating_point>(nullptr, "composite_mass", 1.0);
        clockwerk::DataIO<clockwerk::Matrix<3, 3>> composite_inertia = clockwerk::DataIO<clockwerk::Matrix<3, 3>>(nullptr, "composite_inertia", 
                          clockwerk::Matrix<3, 3>({{1.0,0.0,0.0},{0.0,1.0,0.0},{0.0,0.0,1.0}}));
 
        /* Nice handle to the body itself for mapping*/
        clockwerk::DataIO<Body*> self_id = clockwerk::DataIO<Body*>(nullptr, "self_id", this);

        int calcFrameTreeExtForcesMoments();

        int calcFrameTreeExtAcceleration();

        void getFMPairAtParentOrigin(clockwerk::CartesianVector<3> &force_parentcg__p, clockwerk::CartesianVector<3> &moment_parentcg__p);

        clockwerk::CartesianVector<3> externalForce() {return _ext_force__b;}
        clockwerk::CartesianVector<3> externalMoment() {return _ext_moment__b;}
        clockwerk::CartesianVector<3> passthroughForce() {return _passthrough_force__b;}
        clockwerk::CartesianVector<3> passthroughMoment() {return _passthrough_moment__b;}

        void dump();
    protected:
        void _calcCompositeMassInertiaCM();

        void _calcAppliedForceMoment(const clockwerk::CartesianVector<3> &force, const clockwerk::CartesianVector<3> &moment);

        clockwerk::CartesianVector<3> _ext_force__b;
        clockwerk::CartesianVector<3> _ext_moment__b;

        clockwerk::CartesianVector<3> _passthrough_force__b;
        clockwerk::CartesianVector<3> _passthrough_moment__b;
    };
 
}
 
#endif