MobilizedBody_Ball.h

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#ifndef SimTK_SIMBODY_MOBILIZED_BODY_BALL_H_
#define SimTK_SIMBODY_MOBILIZED_BODY_BALL_H_

/* -------------------------------------------------------------------------- *
 *                               Simbody(tm)                                  *
 * -------------------------------------------------------------------------- *
 * This is part of the SimTK biosimulation toolkit originating from           *
 * Simbios, the NIH National Center for Physics-Based Simulation of           *
 * Biological Structures at Stanford, funded under the NIH Roadmap for        *
 * Medical Research, grant U54 GM072970. See https://simtk.org/home/simbody.  *
 *                                                                            *
 * Portions copyright (c) 2007-13 Stanford University and the Authors.        *
 * Authors: Michael Sherman                                                   *
 * Contributors: Paul Mitiguy, Peter Eastman                                  *
 *                                                                            *
 * Licensed under the Apache License, Version 2.0 (the "License"); you may    *
 * not use this file except in compliance with the License. You may obtain a  *
 * copy of the License at http://www.apache.org/licenses/LICENSE-2.0.         *
 *                                                                            *
 * Unless required by applicable law or agreed to in writing, software        *
 * distributed under the License is distributed on an "AS IS" BASIS,          *
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.   *
 * See the License for the specific language governing permissions and        *
 * limitations under the License.                                             *
 * -------------------------------------------------------------------------- */

#include "simbody/internal/MobilizedBody.h"

namespace SimTK {


class SimTK_SIMBODY_EXPORT MobilizedBody::Ball : public MobilizedBody {
public:
    Ball() {}

    Ball(MobilizedBody& parent, const Transform& X_PF,
         const Body& bodyInfo,  const Transform& X_BM, Direction=Forward);

    Ball(MobilizedBody& parent, const Body& bodyInfo, Direction=Forward);

    Ball& addBodyDecoration(const Transform& X_BD, const DecorativeGeometry& g) {
        (void)MobilizedBody::addBodyDecoration(X_BD,g); return *this;
    }
    Ball& addOutboardDecoration(const Transform& X_MD,  const DecorativeGeometry& g) {
        (void)MobilizedBody::addOutboardDecoration(X_MD,g); return *this;
    }
    Ball& addInboardDecoration (const Transform& X_FD, const DecorativeGeometry& g) {
        (void)MobilizedBody::addInboardDecoration(X_FD,g); return *this;
    }

    Ball& setDefaultInboardFrame(const Transform& X_PF) {
        (void)MobilizedBody::setDefaultInboardFrame(X_PF); return *this;
    }

    Ball& setDefaultOutboardFrame(const Transform& X_BM) {
        (void)MobilizedBody::setDefaultOutboardFrame(X_BM); return *this;
    }

    // This is just a nicer name for the generalized coordinate.
    Ball& setDefaultRotation(const Rotation& R_FM) {
        return setDefaultQ(R_FM.convertRotationToQuaternion());
    }
    Rotation getDefaultRotation() const {return Rotation(getDefaultQ());}

    // This is used only for visualization.
    Ball& setDefaultRadius(Real r);
    Real getDefaultRadius() const;

    // Generic default state Topology methods.
    const Quaternion& getDefaultQ() const;
    Ball& setDefaultQ(const Quaternion& q);

    const Vec4& getQ(const State&) const;
    const Vec4& getQDot(const State&) const;
    const Vec4& getQDotDot(const State&) const;
    const Vec3& getU(const State&) const;
    const Vec3& getUDot(const State&) const;

    void setQ(State&, const Vec4&) const;
    void setU(State&, const Vec3&) const;

    const Vec4& getMyPartQ(const State&, const Vector& qlike) const;
    const Vec3& getMyPartU(const State&, const Vector& ulike) const;
   
    Vec4& updMyPartQ(const State&, Vector& qlike) const;
    Vec3& updMyPartU(const State&, Vector& ulike) const;
 // hide from Doxygen
    SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(Ball, BallImpl, MobilizedBody);
};


} // namespace SimTK

#endif // SimTK_SIMBODY_MOBILIZED_BODY_BALL_H_