RigidBodyTypes.hpp

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// Vulcan Rigid Body Dynamics Types
// State, derivative, and mass property structures for 6DOF simulation
#pragma once
 
#include <vulcan/core/VulcanTypes.hpp>
#include <vulcan/mass/MassProperties.hpp>
 
#include <janus/math/Quaternion.hpp>
 
// =============================================================================
// State Structures
// =============================================================================
 
namespace vulcan::dynamics {
 
// Import MassProperties from mass namespace for backward compatibility
using vulcan::mass::aggregate_mass_properties;
using vulcan::mass::MassProperties;
using vulcan::mass::transform_mass_properties;

template <typename Scalar> struct RigidBodyState {
    Vec3<Scalar> position;              
    Vec3<Scalar> velocity_body;         
    janus::Quaternion<Scalar> attitude; 
    Vec3<Scalar> omega_body; 
};

template <typename Scalar> struct RigidBodyDerivatives {
    Vec3<Scalar> position_dot; 
    Vec3<Scalar> velocity_dot; 
    janus::Quaternion<Scalar> attitude_dot; 
    Vec3<Scalar> omega_dot; 
};
 
} // namespace vulcan::dynamics