// Fill out your copyright notice in the Description page of Project Settings.

#pragma once

#include "CoreMinimal.h"
#include "Components/StaticMeshComponent.h"
#include "Eigen/Dense"
#include "Link.generated.h"

/**
 * 
 */
UCLASS(ClassGroup=(Custom), meta=(BlueprintSpawnableComponent))
class PBDROBOTICS_API ULink : public UStaticMeshComponent
{
	GENERATED_BODY()

public:
	Eigen::Vector3d CenterOfMass;
	Eigen::Vector3d Position;
	Eigen::Vector3d Velocity;
	double Mass;
	Eigen::Quaterniond Orientation;
	Eigen::Vector3d AngleVelocity;
	Eigen::Matrix3d Inertia;

private:
	Eigen::Vector3d inertia_tensor;
	Eigen::Matrix3d GetMomentOfInertia() const;
	Eigen::Matrix3d GetRotationMatrix() const;
	
protected:
	virtual void BeginPlay() override;
};