MultibodySystem.h

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#pragma once
 
#include "RigidBodySystem.h"
 
#include "Topology/TriangleSet.h"
 
namespace dyno 
{
    template<typename TDataType>
    class MultibodySystem : public RigidBodySystem<TDataType>
    {
        DECLARE_TCLASS(MultibodySystem, TDataType)
    public:
        typedef typename TDataType::Real Real;
        typedef typename TDataType::Coord Coord;
        typedef typename TDataType::Matrix Matrix;
        typedef typename ::dyno::Pair<uint, uint> BindingPair;
 
        MultibodySystem();
        ~MultibodySystem() override;
 
    public:
        DEF_VAR(std::vector<Transform3f>, VehiclesTransform, std::vector<Transform3f>{Transform3f()}, "");
 
        DEF_INSTANCE_IN(TriangleSet<TDataType>, TriangleSet, "TriangleSet of the boundary");
 
    public:
        DEF_NODE_PORTS(RigidBodySystem<TDataType>, Vehicle, "");
 
        DEF_ARRAYLIST_STATE(Transform3f, InstanceTransform, DeviceType::GPU, "Instance transforms");
 
    protected:
        void resetStates() override;
 
        void postUpdateStates() override;
 
        bool validateInputs() override;
    };
}