MuscleBase.h

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#pragma once

namespace AnimatSim
{
        namespace Environment
        {
                namespace Bodies
                {

                        class ANIMAT_PORT MuscleBase : public LineBase  
                        {
                        protected:
                                float m_fltMaxTension;

                                float m_fltVm;

                                float m_fltTdot;

                                float m_fltTension;

                                float m_fltPrevTension;

                                SigmoidGain m_gainStimTension;

                                LengthTensionGain m_gainLengthTension;

                                virtual void CalculateTension() = 0;

                        public:
                                MuscleBase();
                                virtual ~MuscleBase();

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

                                float Tension();
                                void Tension(float fltVal);

                                float MaxTension();
                                void MaxTension(float fltVal);

                                float Vm();
                                float Tdot();
                                float PrevTension();

                                virtual bool Enabled();
                                virtual void Enabled(bool bVal);

                                virtual SigmoidGain *StimTension();
                                virtual void StimTension(std::string strXml);

                                virtual LengthTensionGain *LengthTension();
                                virtual void LengthTension(std::string strXml);

                                virtual void CalculateInverseDynamics(float fltLength, float fltVelocity, float fltT, float &fltVm, float &fltA) = 0;
                                virtual void AddExternalNodeInput(int iTargetDataType, float fltInput);

                                virtual void SetSystemPointers(Simulator *lpSim, Structure *lpStructure, NeuralModule *lpModule, Node *lpNode, bool bVerify);
                                virtual void VerifySystemPointers();

                                virtual void ResetSimulation();

                                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