PlanarJoint::PlanarJoint(const std::string& _name)
: Joint(_name)
{
mGenCoords.push_back(&mCoordinate[0]);
mGenCoords.push_back(&mCoordinate[1]);
mGenCoords.push_back(&mCoordinate[2]);
mS = Eigen::Matrix<double, 6, 3>::Zero();
mdS = Eigen::Matrix<double, 6, 3>::Zero();
mSpringStiffness.resize(3, 0.0);
mDampingCoefficient.resize(3, 0.0);
mRestPosition.resize(3, 0.0);
setPlaneType(PT_XY);
}
/**Group the typical plane definition uses together.
*/
void SliceComputer::initializeFromPlane(PLANE_TYPE plane, bool useGravity, const Vector3D& gravityDir, bool useViewOffset, double viewportHeight, double toolViewOffset, CLINICAL_VIEW application, bool useConstrainedViewOffset)
{
setPlaneType(plane);
mClinicalApplication = application;
if (plane == ptSAGITTAL || plane == ptCORONAL || plane == ptAXIAL )
{
setOrientationType(otORTHOGONAL);
setFollowType(ftFIXED_CENTER);
}
else if (plane == ptANYPLANE || plane==ptRADIALPLANE || plane==ptSIDEPLANE)
{
setOrientationType(otOBLIQUE);
setFollowType(ftFOLLOW_TOOL);
setGravity(useGravity, gravityDir);
setToolViewOffset(useViewOffset, viewportHeight, toolViewOffset, useConstrainedViewOffset); // TODO finish this one
}
}