/* Last edited on 2011-09-12 23:55:27 by stolfilocal */
/* _*_ latin-1 _*_  */
/* Bezier model of human body */
/* Coordinate axes are X = forwards, Y = right, Z = up. */

#ifndef bzb_foot_H
#define bzb_foot_H

#include <bzb_patch.h>
#include <bzb_limb.h>

typedef struct bzb_foot_parms_t
  { double ax;  /* Rotation angle around {x}-axis (radians). */
    double ay;  /* Rotation angle around {y}-axis (radians). */
    double az;  /* Rotation angle around {z}-axis (radians). */
    double r;   /* Nominal radius of ankle (mm). */
    double s;   /* Nominal length of foot from mid-ankle to base of toe fork (mm). */
    double fh;  /* Nominal height of foot from sole to top of ankle (mm). */
    double ah;  /* Nominal height of ankle (mm). */
    double d;   /* Nominal shear-back at little toe (mm). */
    bzb_toe_parms_t *bt;  /* Paramters of big toe. */
    bzb_toe_parms_t *st;  /* Paramters of small toes. */
  } bzb_foot_parms_t;
  
typedef struct bzb_toe_parms_t
  { double a;   /* Upwards rotation angle (radians). */
    double s;   /* Nominal length of toe (mm). */
    double bw;  /* Nominal width of toe at base (mm). */
    double bh;  /* Nominal height of toe at base (mm). */
    double tw;  /* Nominal width of toe at tip (mm). */
    double th;  /* Nominal height of toe at tip (mm). */
  } bzb_toe_parms_t;
  /* Shape and pose parameters of a toe (bit toe or joined small toes),
    relative to resting foot. */

bzb_limb_t *bzb_foot_build(bzb_foot_parms_t *f);

#endif