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70 lines
1.4 KiB
70 lines
1.4 KiB
// Fill out your copyright notice in the Description page of Project Settings.
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#pragma once
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#include "CoreMinimal.h"
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#include "Joint.h"
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#include "Components/StaticMeshComponent.h"
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#include "Eigen/Dense"
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#include "Link.generated.h"
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using namespace Eigen;
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/**
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*
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*/
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UCLASS(ClassGroup=(Custom), meta=(BlueprintSpawnableComponent))
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class PBDROBOTICS_API ULink : public UStaticMeshComponent
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{
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GENERATED_BODY()
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public:
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// Properties in World space
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Vector3d Position;
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Vector3d Velocity;
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double Mass;
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Quaterniond Orientation;
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Vector3d AngularVelocity;
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Vector3d Last_Position;
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Quaterniond Last_Orientation;
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UPROPERTY()
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UJoint* PrevJoint;
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UPROPERTY()
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UJoint* NextJoint;
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UFUNCTION(BlueprintCallable)
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FVector GetPosition() const;
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UFUNCTION(BlueprintCallable)
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FQuat GetOrientation() const;
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void Update(const double H, const Vector3d& ExtTransForce, const Vector3d& ExtRotForce);
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void UpdateVelocity(const double H);
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void UpdateInternalTransform();
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// Inertia tensor in world space
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Matrix3d GetInertia() const;
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double GetPositionalInverseMass(const Vector3d& R, const Vector3d& N) const;
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double GetRotationalInverseMass(const Vector3d& N) const;
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void Setup();
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UPROPERTY(EditAnywhere)
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bool IsEffector = false;
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Vector3d GetGravityForce() const;
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private:
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UPROPERTY(EditAnywhere)
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bool IsBase = false;
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Matrix3d Inertia_Tensor_Local;
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void SetupJoints() const;
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void SetupProperties();
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};
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