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40 lines
747 B
40 lines
747 B
// Fill out your copyright notice in the Description page of Project Settings.
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#pragma once
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#include "Eigen/Dense"
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#include "CoreMinimal.h"
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#include "Joint.generated.h"
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using namespace Eigen;
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class ULink;
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/**
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*
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*/
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UCLASS(BlueprintType, ClassGroup=(Custom))
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class PBDROBOTICS_API UJoint : public UObject
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{
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GENERATED_BODY()
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public:
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UPROPERTY(BlueprintReadWrite)
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ULink* FirstLink;
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UPROPERTY(BlueprintReadWrite)
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ULink* SecondLink;
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Vector3d FirstRotateAxis;
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Vector3d SecondRotateAxis;
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Vector3d FirstLocalPosition;
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Vector3d SecondLocalPosition;
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Vector3d GetFirstWorldPosition() const;
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Vector3d GetSecondWorldPosition() const;
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void SolvePosition(const double H) const;
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void SolveVelocity(const double H) const;
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UJoint();
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};
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