body.h

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#pragma once


class body
{
public:
    int numPoints; 
    
    vecH X,         
         Y;         
                 
    real X0[2];     
             
    real Xc0[2],    
         Theta0;    
        
    real Xc[2],     
         Theta,     
         vel[2],    
         angVel;    

    bool moving[2]; 

    real velocity[2], 
         omega;       
                 
    real xOscillation[3],     
         yOscillation[3],     
         pitchOscillation[3]; 
    // Note that the angular amplitude & phase difference are stored in radians, and angular frequncy is radians/time
    // But the inputs in bodies.yaml are provided in degrees, and degrees/time.


    void update(real Time)
    {
        // if the body is translating
        if(moving[0])
        {
            Xc[0] = Xc0[0] + velocity[0]*Time + xOscillation[0]*sin(xOscillation[1]*Time + xOscillation[2]);
            Xc[1] = Xc0[1] + velocity[1]*Time + yOscillation[0]*sin(yOscillation[1]*Time + yOscillation[2]);
            vel[0] = velocity[0] + xOscillation[0]*xOscillation[1]*cos(xOscillation[1]*Time + xOscillation[2]);
            vel[1] = velocity[1] + yOscillation[0]*yOscillation[1]*cos(yOscillation[1]*Time + yOscillation[2]);
        }
        // if the body is rotating
        if(moving[1])
        {
            Theta = Theta0 + omega*Time + pitchOscillation[0]*sin(pitchOscillation[1]*Time + pitchOscillation[2]);
            angVel = omega + pitchOscillation[0]*pitchOscillation[1]*cos(pitchOscillation[1]*Time + pitchOscillation[2]);
        }
    } // update


    void reset()
    {
        X0[0]  = X0[1]  = 0.0;
        Xc0[0] = Xc0[1] = 0.0;
        Theta0 = 0.0;
        Xc[0]  = Xc[1]  = 0.0;
        Theta  = 0.0;
        vel[0] = vel[1] = 0.0;
        angVel = 0.0;
        moving[0] = false;
        moving[1] = false;
        velocity[0] = 0.0;
        velocity[1] = 0.0;
        omega = 0.0;
        xOscillation[0] = xOscillation[1] = xOscillation[2] = 0.0;
        yOscillation[0] = yOscillation[1] = yOscillation[2] = 0.0;
        pitchOscillation[0] = pitchOscillation[1] = pitchOscillation[2] = 0.0;
    } // reset
}; // body