dsim_rigid_body.h

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/*
 *  dsim_rigid_body.h
 *  DSimEngine2
 *
 *  Created by David Wilson on 5/19/09.
 *  Copyright 2009 Princeton Satellite Systems. All rights reserved.
 *
 */

#ifndef __DSIM_RIGID_BODY__
#define __DSIM_RIGID_BODY__

#include "dsim_model.h"

class dsim_rigid_body : public dsim_model
{
    public:
        dsim_rigid_body(dsim_model_setup *setup);
        ~dsim_rigid_body();
        
        void initialize_data();
        void initialize_timestep();
                                void complete_timestep();
        
        void rhs(double t,double jd);
        
        dsim_value handle_message(const std::string &sender_path,const std::string &message_name,const dsim_value &argument);
    
    private:
        dsim_variable pos;
        dsim_variable vel;
        dsim_variable quat;
        dsim_variable rotv;
        dsim_variable mass;
        dsim_variable center_mass;
        dsim_variable inertia;
        
        dsim_variable test;
        
        ml_matrix force;
        ml_matrix torque;
        ml_matrix q_dot(const ml_matrix &quat, const ml_matrix &w);
};

#endif