ArticulatedLink.h

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#ifndef ARTICULATEDLINK_H
#define ARTICULATEDLINK_H

#include "ArticulatedComponent.h"


class Simulator;

const real DEFAULT_K=(real)0.01; //0.01
const real DEFAULT_ETA=(real)0.15;


class ArticulatedLimb;

class ArticulatedLink;
typedef std::vector<ArticulatedLink*> ArticulatedLinkPVector;


class ArticulatedLink : public ArticulatedComponent  {
public:
   ArticulatedLink(const std::string &label);
   virtual ~ArticulatedLink();
   
   void computeForceQuasistatic(GlobalContactInfoVector* globalContacts);

   void normalizeTheta();

   void computeSinCos();

   void integrate(const Integrator &integrator);

   void rollback(){
      theta=thetaOld;
      ComposedPhysicalObject::rollback();
   }


   bool hasElasticTorque;

   void computeMotorTorque();

   void setParentLink(ArticulatedLink* parentLink);

   void fillContactMatrix(ContactSolver* contactSolver, ContactInfo* contactInfo) {
    }
   
   ContactInfo* torqueContact;
   void deleteContacts(){ 
      PhysicalObject::deleteContacts(); 
      if(torqueContact!=NULL){
         delete torqueContact;
         torqueContact=NULL;
      }
      force.setToZero();
   }

   void detectTorqueContact(GlobalContactInfoVector* contacts);

   void draw(GUI *gui); 

   real totalTorque;
   Vector2 force;
   Vector2 forceLocal;
   Vector2 totalForce;

   real theta;
   real thetaOld;

   real sinTheta, cosTheta, sin2, cos2, sinCos;

   Vector3 coriolis;

   real thetaD;

   real thetaDD;

   real theta0;
   real theta0Min, theta0Max;
   real deltaThetaMax;
   real motorTorque;

   real k;
   real eta;

   real l;  

   ArticulatedLink* parentLink;
   
   ArticulatedLinkPVector childLinks;
};




#endif //ARTICULATEDLINK_H

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