mechanism.h

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#ifndef MECHANISMH
#define MECHANISMH

#include "vector.h"
#include "cuiksystem.h"
#include "box.h"
#include "link.h"
#include "joint.h"
#include "plot3d.h"
#include "color.h"

/****************************************************************************/
#define INIT_NUM_LINKS 10
/****************************************************************************/
#define INIT_NUM_JOINTS 10
/****************************************************************************/

typedef struct {
  Tvector joints; 
  Tvector links;  
  unsigned int nbodies; 
  boolean allSpheres;   
  double maxCoord;      
  boolean isTensegrity;
} Tmechanism;

void InitMechanism(Tmechanism *m);

unsigned int GetMechanismNLinks(Tmechanism *m);

unsigned int GetMechanismNJoints(Tmechanism *m);

unsigned int GetMechanismNBodies(Tmechanism *m);

boolean IsMechanismAllSpheres(Tmechanism *m);

double GetMechanismMaxCoordinate(Tmechanism *m);


signed int GetMechanismMobility(Tmechanism *m);

void GetMechanismDefiningPoint(unsigned int lID,unsigned int bID,unsigned int pID,
                               double *p,Tmechanism *m);

unsigned int AddLink2Mechanism(Tlink *l,Tmechanism *m);

unsigned int AddJoint2Mechanism(Tjoint *j,Tmechanism *m);

unsigned int AddBody2Mechanism(unsigned int lID,Tpolyhedron *b,Tmechanism *m);

unsigned int GetLinkID(char *name,Tmechanism *m);

Tlink *GetMechanismLink(unsigned int i,Tmechanism *m);

unsigned int GetMechanismLinkID(char *ln,Tmechanism *m);

Tjoint *GetMechanismJoint(unsigned int i,Tmechanism *m);

boolean AllRevolute(Tmechanism *m);

void PlotMechanism(Tplot3d *pt,double axesLength,Tmechanism *m);


void RegenerateMechanismSolution(Tparameters *p,TCuikSystem *cs,
                                 double *sol,Tmechanism *m);


void RegenerateMechanismBox(Tparameters *p,TCuikSystem *cs,Tbox *b,Tmechanism *m);


void GetMechanismDOFsFromTransforms(Tparameters *p,THTransform *tl,TLinkConf *def,
                                    double *dof,Tmechanism *m);


void MechanismPrintAtoms(FILE *f,THTransform *tl,Tmechanism *m);

void MechanismStoreRigidAtoms(FILE *f,THTransform *tl,Tmechanism *m);

void MoveMechanismFromTransforms(Tparameters *pr,Tplot3d *pt,
                                 THTransform *tl,TLinkConf *def,
                                 Tmechanism *m);

void PrintMechanism(FILE *f,char *path,char *prefix,Tmechanism *m);

void DeleteMechanism(Tmechanism *m);

#endif