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rdBodyConstraint.h

// rdBodyConstraint.h
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// AUTHOR: Frank C. Anderson
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#ifndef __rdBodyConstraint_h__
#define __rdBodyConstraint_h__


//==============================================================================
// INCLUDES
//==============================================================================
#include "rdTools.h"
#include "rdPointConstraint.h"
//class rdPointConstraint;


//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
class RDTOOLS_API rdBodyConstraint
{
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//==============================================================================
// DATA
//==============================================================================
public:
   int _id;                   // BODY ID
   rdPointConstraint _pc[3];  // POINT CONSTRAINTS (3 MAX, for now)

//==============================================================================
// METHODS
//==============================================================================
public:
   //---------------------------------------------------------------------------
   // CONSTRUCTION
   //---------------------------------------------------------------------------
   virtual ~rdBodyConstraint();
   rdBodyConstraint();

   //---------------------------------------------------------------------------
   // SET AND GET
   //---------------------------------------------------------------------------
   int getNC();
   void setID(int aID);
   int getID();
   rdPointConstraint* getPC(int aI);

   //---------------------------------------------------------------------------
   // CONSTRAINT CONSTRUCTION
   //---------------------------------------------------------------------------
   void setValues(int aN,int aID[],double aV[][3]);
   void constructConstraintsForPoint1();
   void constructConstraintsForPoint2();
   double* findMostOrthogonal(rdPointConstraint *aPC,double aV[3]);

   //---------------------------------------------------------------------------
   // UTILITY
   //---------------------------------------------------------------------------
   void clear();
   void clearValues();

//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
}; // END class rdBodyConstraint
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++


#endif // #ifndef __rdBodyConstraint_h__

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