// Constructor for central Rope
ManipulatorRope::ManipulatorRope(const ThreeVector &abushing,
const ThreeVector &aaxis,float abushingRadius, const AV &av)
: //av(aav),
bushing(abushing), bushingRadius(abushingRadius),
bushingExit(cross(kVector, aaxis)),
anchorExit(oVector), anchorROC(tempROC),
anchorHoleOffset(tempHoleOffset),
pulleyAxis(aaxis),neckRingRadius(av.getNeckRingRadius()),
neckRingROC(av.getNeckRingROC()),
neckRingCenter(av.getNeckRingPosition()),
neckRingAxis(av.getNeckDirection())
{
// bushingRadius = abushingRadius;
ropeType = centralRope;
// pulleyAxis = aaxis;
// bushingExit = cross(kVector, aaxis);
getLength(ThreeVector(0,0,0));
}
// Constructor for side Ropes //
ManipulatorRope::ManipulatorRope(const ThreeVector &abushing,
const ThreeVector &aanchor,
const float &aROC, const float &aHoleOff, const ThreeVector &aaxis,
float apulleyOffset, float apulleyRadius, float abushingRadius, const AV &av)
:// av(aav),
bushing(abushing), bushingRadius(abushingRadius),
bushingExit(cross(kVector, aaxis)),
anchorExit(aanchor), anchorROC(aROC), anchorHoleOffset(aHoleOff),
pulleyAxis(aaxis),pulleyOffset(apulleyOffset),
neckRingRadius(av.getNeckRingRadius()),
neckRingROC(av.getNeckRingROC()),
neckRingCenter(av.getNeckRingPosition()),
neckRingAxis(av.getNeckDirection())
{
ropeType=(anchorExit[X]+anchorExit[Y] < 0)?leftRope:rightRope;
pulleyRadius=apulleyRadius;
// bushingRadius=abushingRadius;
// anchorROC=aROC;
// anchorHoleOffset=aHoleOff;
// pulleyAxis=aaxis;
getLength(ThreeVector(0,0,0));
}