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 "polyhedron.h"
#include "plot3d.h"
#include "color.h"
#include "htransform.h"
#include "parameters.h"

#include <stdlib.h>

#define ROT_REDUNDANCY 0

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

#define DLC_G 0.5

#define DLC_B 0

/************************************************************************************/

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

typedef struct {
  char *name; 
  double s; 
  double c; 
  THTransform R; 
  THTransform iR; 
  Tvector bodies; 
  boolean allSpheres; 
  unsigned int axisID[3]; 
  double maxCoord; 
  TCuikSystem *csvID; 
  unsigned int *vID;  
  unsigned int nvID;  
} Tlink;

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

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

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

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

unsigned int LinkNBodies(Tlink *l);

unsigned int LinkNAtoms(Tlink *l);


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

unsigned int GetLinkBodyStatus(unsigned int i,Tlink *l);

char *GetLinkName(Tlink *l);

boolean IsLinkAllSpheres(Tlink *l);


void SetPoseVars(Tparameters *p,boolean *vars,TCuikSystem *cs,Tlink *l);

void SetTransVars(boolean *vars,TCuikSystem *cs,Tlink *l);


void SetRotVars(Tparameters *p,boolean *vars,TCuikSystem *cs,Tlink *l);


void GetLinkPoseSimpVars(Tparameters *p,boolean *sv,TCuikSystem *cs,Tlink *l);

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

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

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


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

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

void ApplyLinkRotVar(Tparameters *pr,double sf,unsigned int *vID,Tequation *eq,
                     TCuikSystem *cs,boolean groundLink,Tlink *l);

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

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

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

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

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

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

void RegenerateLinkBox(Tparameters *p,TCuikSystem *cs,Tbox *b,
                       boolean groundLink,Tlink *l);

void RegenerateLinkBoxLinks(TCuikSystem *cs,Tbox *b,boolean groundLink,Tlink *l);

void RegenerateLinkBoxQLinks(TCuikSystem *cs,Tbox *b,boolean groundLink,Tlink *l);

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

void GetTransform2LinkLinks(TCuikSystem *cs,double *sol,boolean groundLink,
                            double *trans,THTransform *t,Tlink *l);

void GetTransform2LinkFLinks(TCuikSystem *cs,double *sol,boolean groundLink,
                             double *trans,THTransform *t,Tlink *l);

void GetTransform2LinkQLinks(TCuikSystem *cs,double *sol,boolean groundLink,
                             double *trans,THTransform *t,Tlink *l);

void GenerateLinkSolution(Tparameters *p,THTransform *t,TCuikSystem *cs,
                          double *sol,boolean groundLink,Tlink *l);

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

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

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

boolean VisibleLink(Tlink *l);

double GetLinkMaxCoordinate(Tlink *l);

void LinkPrintAtoms(FILE *f,THTransform *tl,Tlink *l);

void LinkStoreAtoms(FILE *f,THTransform *tl,Tlink *l);

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


void MoveLinkFromTransform(Tplot3d *pt,THTransform *t,Tlink *l);

void PrintLink(FILE *f,char *path,char *prefix,Tlink *l);

void DeleteLink(Tlink *l);

#endif