PolyplateEnvironmentForces.h

#ifndef PolyplateEnvironmentForces_h
#define PolyplateEnvironmentForces_h
 
#include "CRigidBody.h"
#include "PolyplateSpec.h"
 
#include <fhsim_environment/EnvironmentProvider.h>
 
namespace rigidbody
{
namespace soilforces
{
void SplitPolygon(int n, double* x, double* y, double* xOut, double* yOut, int& n1, int& n2, double ax, double ay, double a);
vec6 CalcHydroforcesPolyplate(const vec6& dX, const vec3& r, const quat& q, environment::EnvironmentProvider* environment, double time, const double* states, const PolyplateSpec& plateSpec);
vec6 CalcSoilforcesPolyplate(const vec6& dX, const vec3& r, const quat& q, environment::EnvironmentProvider* environment, double time, const double* states, const PolyplateSpec& plateSpec);
 
 
} // namespace soilforces
} // namespace rigidbody
 
#endif