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34 lines
752 B
34 lines
752 B
// 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 "Components/StaticMeshComponent.h"
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#include "Eigen/Dense"
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#include "Link.generated.h"
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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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Eigen::Vector3d CenterOfMass;
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Eigen::Vector3d Position;
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Eigen::Vector3d Velocity;
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double Mass;
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Eigen::Quaterniond Orientation;
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Eigen::Vector3d AngleVelocity;
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Eigen::Matrix3d Inertia;
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private:
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Eigen::Vector3d inertia_tensor;
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Eigen::Matrix3d GetMomentOfInertia() const;
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Eigen::Matrix3d GetRotationMatrix() const;
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protected:
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virtual void BeginPlay() override;
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};
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