SegmentCharacteristics.cpp

#define BIORBD_API_EXPORTS
#include "RigidBody/SegmentCharacteristics.h"
 
#include "Utils/Vector3d.h"
#include "RigidBody/MeshFace.h"
#include "RigidBody/Mesh.h"
 
biorbd::rigidbody::SegmentCharacteristics::SegmentCharacteristics() :
    Body(),
    m_length(std::make_shared<biorbd::utils::Scalar>(0)),
    m_mesh(std::make_shared<biorbd::rigidbody::Mesh>())
{
 
}
biorbd::rigidbody::SegmentCharacteristics::SegmentCharacteristics(
        double  mass,
        const biorbd::utils::Vector3d &com,
        const RigidBodyDynamics::Math::Matrix3d &inertia) :
    Body(mass, com, inertia),
    m_length(std::make_shared<biorbd::utils::Scalar>(0)),
    m_mesh(std::make_shared<biorbd::rigidbody::Mesh>())
{
 
}
biorbd::rigidbody::SegmentCharacteristics::SegmentCharacteristics(
        double mass,
        const biorbd::utils::Vector3d &com,
        const RigidBodyDynamics::Math::Matrix3d &inertia,
        const biorbd::rigidbody::Mesh &mesh) :
    Body(mass, com, inertia),
    m_length(std::make_shared<biorbd::utils::Scalar>(0)),
    m_mesh(std::make_shared<biorbd::rigidbody::Mesh>(mesh))
{
 
}
 
biorbd::rigidbody::SegmentCharacteristics biorbd::rigidbody::SegmentCharacteristics::DeepCopy() const
{
    biorbd::rigidbody::SegmentCharacteristics copy;
    copy.DeepCopy(*this);
    return copy;
}
 
void biorbd::rigidbody::SegmentCharacteristics::DeepCopy(const SegmentCharacteristics &other)
{
    static_cast<RigidBodyDynamics::Body&>(*this) = other;
    *m_length = *other.m_length;
    *m_mesh = other.m_mesh->DeepCopy();
}
 
void biorbd::rigidbody::SegmentCharacteristics::setLength(
        const biorbd::utils::Scalar& val)
{
    *m_length = val;
}
 
const biorbd::utils::Scalar& biorbd::rigidbody::SegmentCharacteristics::length() const
{
    return *m_length;
}
 
double biorbd::rigidbody::SegmentCharacteristics::mass() const
{
    return mMass;
}
 
biorbd::utils::Vector3d biorbd::rigidbody::SegmentCharacteristics::CoM() const
{
    return mCenterOfMass;
}
 
void biorbd::rigidbody::SegmentCharacteristics::setCoM(
        const biorbd::utils::Vector3d &com)
{
    mCenterOfMass = com;
}
 
const biorbd::rigidbody::Mesh &biorbd::rigidbody::SegmentCharacteristics::mesh() const
{
    return *m_mesh;
}
 
const RigidBodyDynamics::Math::Matrix3d &biorbd::rigidbody::SegmentCharacteristics::inertia() const
{
    return mInertia;
}