LinearHillMuscle.h

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#pragma once

namespace AnimatSim
{
        namespace Environment
        {
                namespace Bodies
                {


                        class ANIMAT_PORT LinearHillMuscle : public MuscleBase  
                        {
                        protected:
                                float m_fltKse;
                                
                                float m_fltKpe;
                                
                                float m_fltB;

                                float m_fltKseByB;

                                float m_fltKpeByKse;

                                float m_fltSeLength;

                                float m_fltSeDisplacement;

                                float m_fltPeLength;

                                float m_fltSeLPrev;

                                float m_fltPeLPrev;

                                float m_fltVse;

                                float m_fltVpe;

                                float m_fltDisplacement;

                                float m_fltDisplacementRatio;

                                float m_fltTL;

                                float m_fltTLPerc;

                                float m_fltAct;

                                float m_fltA;

                                float m_fltPrevA;

                                float m_fltInternalTension;

                                float m_fltVmuscle;

                                float m_fltIbDischargeConstant;

                                float m_fltIbRate;

                                float *m_aryMuscleVelocities;

                                int m_iMuscleVelAvgCount;

                                int m_iVelAvgIndex;

                                //Averaged muscle velocity.
                                float m_fltAvgMuscleVel;

                                float Ftl(float fltLce);
                                float Fact(float fltStim);
                                //float Tspring(float fltKq, float fltKl, float fltB, float fltLimit, float fltE);

                                virtual void CalculateTension();

                        public:
                                LinearHillMuscle();
                                virtual ~LinearHillMuscle();

                                static LinearHillMuscle *CastToDerived(AnimatBase *lpBase) {return static_cast<LinearHillMuscle*>(lpBase);}

                                virtual float Kse();
                                virtual void Kse(float fltVal);

                                virtual float Kpe();
                                virtual void Kpe(float fltVal);

                                virtual float B();
                                virtual void B(float fltVal);

                                virtual float RestingLength();
                                virtual void RestingLength(float fltVal);

                                virtual float IbDischargeConstant();
                                virtual void IbDischargeConstant(float fltVal);

                                virtual float SeLength();
                                virtual float PeLength();
                                virtual float Displacement();
                                virtual float DisplacementRatio();
                                virtual float TL();
                                virtual float Act();
                                virtual float A();
                                virtual float InternalTension();
                                virtual float Vmuscle();

                                virtual void Enabled(bool bVal);

                                virtual void CalculateInverseDynamics(float fltLength, float fltVelocity, float fltT, float &fltVm, float &fltA);
                                                                
                                virtual void ResetSimulation();
                                virtual void AfterResetSimulation();

                                virtual void CreateJoints();
                                virtual float *GetDataPointer(const std::string &strDataType);
                                virtual bool SetData(const std::string &strDataType, const std::string &strValue, bool bThrowError = true);
                                virtual void QueryProperties(CStdPtrArray<TypeProperty> &aryProperties);

                                virtual void Load(CStdXml &oXml);
                        };

                }               //Bodies
        }                       // Environment
}                               //AnimatSim