link.h

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#ifndef LINKH
#define LINKH

#include "vector.h"
#include "interval.h"
#include "equation.h"
#include "cuiksystem.h"
#include "box.h"
#include "cpolyhedron.h"
#include "plot3d.h"
#include "color.h"
#include "htransform.h"

#include <stdlib.h>

#define ROT_REP 1

#define ROT_REDUNDANCY 0

/************************************************************************************/
#define INIT_NUM_SHAPES 2
/****************************************************************************/
#define DLC_R 0.5

#define DLC_G 0.5

#define DLC_B 0
/************************************************************************************/
/************************************************************************************/
#define CC_R 1

#define CC_G 0

#define CC_B 0
/************************************************************************************/

#define IsGroundLink(id) (id==0)

typedef struct {
  char *name; 
  double s; 
  double c; 
  THTransform R; 
  Tvector bodies; 
  unsigned int axisID[3]; 
  double maxCoord; 
} Tlink;

void InitLink(char *name,Tlink *l);

void CopyLink(Tlink *l_dst,Tlink *l_src);

void AddBody2Link(Tcpolyhedron *b,Tlink *l);

void ChangeLinkReferenceFrame(double **p1,double **p2,Tlink *l);

unsigned int LinkNBodies(Tlink *l);


Tcpolyhedron *GetLinkBody(unsigned int i,Tlink *l);

char *GetLinkName(Tlink *l);

boolean IsAllSpheres(Tlink *l);

void GenerateLinkRot(Tparameters *p,unsigned int lID,TCuikSystem *cs,Tlink *l);

void ApplyLinkRot(double sf,unsigned int sv,double *p,Tequation *eq,
                  TCuikSystem *cs,boolean groundLink,Tlink *l);


void RegenerateLinkSolution(TCuikSystem *cs,double *sol,boolean groundLink,Tlink *l);

void GetTransform2Link(TCuikSystem *cs,double *sol,boolean groundLink,
                       double *r,THTransform *t,Tlink *l);

double GetLinkMaxCoordinate(Tlink *l);

void PlotLink(Tplot3d *pt,double axesLength,Tlink *l);

void MoveLink(Tplot3d *pt,TCuikSystem *cs,double *sol,
              double *r,Tlink *l);

void DeleteLink(Tlink *l);

#endif