mbsim 4.0.0 MBSim Kernel

edge.h
1 /* Copyright (C) 2004-2009 MBSim Development Team
2 *
3 * This library is free software; you can redistribute it and/or
4 * modify it under the terms of the GNU Lesser General Public
5 * License as published by the Free Software Foundation; either
6 * version 2.1 of the License, or (at your option) any later version.
7 *
8 * This library is distributed in the hope that it will be useful,
9 * but WITHOUT ANY WARRANTY; without even the implied warranty of
10 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
11 * Lesser General Public License for more details.
12 *
13 * You should have received a copy of the GNU Lesser General Public
14 * License along with this library; if not, write to the Free Software
15 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
16 *
17 * Contact: martin.o.foerg@googlemail.com
18 */
19
20 #ifndef _EDGE_H_
21 #define _EDGE_H_
22
23 #include "mbsim/contours/rigid_contour.h"
24 #include "mbsim/utils/boost_parameters.h"
25 #include "mbsim/utils/openmbv_utils.h"
26 #include <openmbvcppinterface/indexedlineset.h>
27
28 namespace MBSim {
29
36 class Edge : public MBSim::RigidContour {
37 public:
42 Edge(const std::string &name="", Frame *R=nullptr) : RigidContour(name,R) { }
43
44 /* GETTER / SETTER */
45 void setLength(double length_) {length = length_;}
46 double getLength() const { return length; }
47 /***************************************************/
48
49 BOOST_PARAMETER_MEMBER_FUNCTION( (void), enableOpenMBV, tag, (optional (diffuseColor,(const fmatvec::Vec3&),fmatvec::Vec3(std::vector<double>{-1,1,1}))(transparency,(double),0)(pointSize,(double),0)(lineWidth,(double),0))) {
50 OpenMBVLine ombv(1,diffuseColor,transparency,pointSize,lineWidth);
51 openMBVRigidBody=ombv.createOpenMBV();
52 }
53
54 private:
55 double length{1};
56 };
57 }
58
59 #endif /* _EDGE_H_ */
MBSim::Edge
RigidContour Edge.
Definition: edge.h:36
MBSim::RigidContour
basic class for rigid contours
Definition: rigid_contour.h:37
MBSim::Edge::Edge
Edge(const std::string &name="", Frame *R=nullptr)
constructor
Definition: edge.h:42
MBSim::Element::name
std::string name
name of element
Definition: element.h:260
MBSim::Frame
cartesian frame on bodies used for application of e.g. links and loads
Definition: frame.h:39
MBSim::RigidContour::R
Frame * R
coordinate system of contour
Definition: rigid_contour.h:133
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30