mbsimflexiblebody 4.0.0 MBSim Flexible Body Module

flexible_planar_ffr_nurbs_contour.h
1 /* Copyright (C) 2004-2018 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 _FLEXIBLE_PLANAR_FFR_NURBS_CONTOUR_H_
21 #define _FLEXIBLE_PLANAR_FFR_NURBS_CONTOUR_H_
22
23 #include "mbsimFlexibleBody/contours/flexible_contour.h"
24
25 #include "mbsim/utils/boost_parameters.h"
26 #include <mbsimFlexibleBody/utils/openmbv_utils.h>
27 #include <mbsim/numerics/nurbs/nurbs_curve.h>
28
29 namespace OpenMBV {
30 class DynamicNurbsCurve;
31 }
32
33 namespace MBSim {
34 class ContourFrame;
35 }
36
37 namespace MBSimFlexibleBody {
38
43 class FlexiblePlanarFfrNurbsContour : public FlexibleContour {
44 public:
49 FlexiblePlanarFfrNurbsContour(const std::string &name="") : FlexibleContour(name) { }
50
54 ~FlexiblePlanarFfrNurbsContour() override = default;
55
56 /* INHERITED INTERFACE OF ELEMENT */
57 /***************************************************/
58
59 /* INHERITED INTERFACE OF CONTOUR */
60 void init(InitStage stage, const MBSim::InitConfigSet &config) override;
61 MBSim::ContourFrame* createContourFrame(const std::string &name="P") override;
62 double getCurvature(const fmatvec::Vec2 &zeta);
63 fmatvec::Vec3 evalWs_t(const fmatvec::Vec2 &zeta) override;
64 fmatvec::Vec3 evalWu_t(const fmatvec::Vec2 &zeta) override;
65 fmatvec::Vec3 evalPosition(const fmatvec::Vec2 &zeta) override;
66 fmatvec::Vec3 evalWs(const fmatvec::Vec2 &zeta) override;
67 fmatvec::Vec3 evalWt(const fmatvec::Vec2 &zeta) override;
68 fmatvec::Vec3 evalParDer1Ws(const fmatvec::Vec2 &zeta);
69 fmatvec::Vec3 evalParDer1Wu(const fmatvec::Vec2 &zeta) override;
70 fmatvec::Vec3 evalParWvCParEta(const fmatvec::Vec2 &zeta) override;
71 fmatvec::Vec3 evalParWuPart(const fmatvec::Vec2 &zeta) override;
72
73 fmatvec::Vec3 evalKs_t(const fmatvec::Vec2 &zeta);
74 fmatvec::Vec3 evalKu_t(const fmatvec::Vec2 &zeta);
75 fmatvec::Vec3 evalKrPS(const fmatvec::Vec2 &zeta);
76 fmatvec::Vec3 evalKs(const fmatvec::Vec2 &zeta);
77 fmatvec::Vec3 evalKt(const fmatvec::Vec2 &zeta);
78 fmatvec::Vec3 evalParDer1Ks(const fmatvec::Vec2 &zeta);
79 fmatvec::Vec3 evalParDer1Ku(const fmatvec::Vec2 &zeta);
80
81 void updatePositions(MBSim::Frame *frame) override;
82 void updateVelocities(MBSim::Frame *frame) override;
83 void updateAccelerations(MBSim::Frame *frame) override;
84 void updateJacobians(MBSim::Frame *frame, int j=0) override;
85 void updateGyroscopicAccelerations(MBSim::Frame *frame) override;
86 /***************************************************/
87
88 /* GETTER / SETTER */
89 void setInterpolation(bool interpolation_) { interpolation = interpolation_; }
90 void setNodeNumbers(const fmatvec::VecVI &node) { index <<= node; }
91 void setKnotVector(const fmatvec::VecV &knot_) { knot <<= knot_; }
92 void setDegree(int degree_) { degree = degree_; }
93 /***************************************************/
94
95 void plot() override;
96
97 BOOST_PARAMETER_MEMBER_FUNCTION( (void), enableOpenMBV, MBSim::tag, (optional (diffuseColor,(const fmatvec::Vec3&),"[-1;1;1]")(transparency,(double),0)(pointSize,(double),0)(lineWidth,(double),0))) {
98 OpenMBVDynamicNurbsCurve ombv(diffuseColor,transparency,pointSize,lineWidth);
99 openMBVNurbsCurve=ombv.createOpenMBV();
100 }
101
102 void initializeUsingXML(xercesc::DOMElement *element) override;
103
104 bool isZetaOutside(const fmatvec::Vec2 &zeta) override;
105
106 void setOpen(bool open_) { open = open_; }
107
108 void resetUpToDate() override { updPos = true; updVel = true; }
109
110 protected:
111 double continueEta(double eta_);
112 void updateHessianMatrix(double eta);
113 void updateGlobalRelativePosition(double eta);
114 void updateGlobalRelativeVelocity(double eta);
115 const fmatvec::MatVx4& evalHessianMatrixPos(double eta) { if(fabs(eta-etaOld)>1e-13) updateHessianMatrix(eta); return hessPos; }
116 const std::vector<fmatvec::MatVx4>& evalHessianMatrixPhi(double eta) { if(fabs(eta-etaOld)>1e-13) updateHessianMatrix(eta); return hessPhi; }
117 const fmatvec::Vec3& evalGlobalRelativePosition(double eta) { if(updPos) updateGlobalRelativePosition(eta); return WrPS; }
118 const fmatvec::Vec3& evalGlobalRelativeVelocity(double eta) { if(updVel) updateGlobalRelativeVelocity(eta); return Wvrel; }
119
120 MBSim::Frame *R;
121 bool interpolation{false};
122 fmatvec::VecVI index;
123 fmatvec::VecV knot;
124 int degree{3};
125 bool open{false};
126 MBSim::NurbsCurve crvPos;
127 std::vector<MBSim::NurbsCurve> crvPhi;
128 double etaOld{-1e10};
129 fmatvec::MatVx4 hessPos;
130 std::vector<fmatvec::MatVx4> hessPhi;
131 fmatvec::Vec3 WrPS, Wvrel;
132 bool updPos{true};
133 bool updVel{true};
134
135 std::shared_ptr<OpenMBV::DynamicNurbsCurve> openMBVNurbsCurve;
136 };
137
138 }
139
140 #endif
MBSimFlexibleBody::FlexibleContour
flexible planar contour
Definition: flexible_contour.h:36
MBSimFlexibleBody::FlexiblePlanarFfrNurbsContour::FlexiblePlanarFfrNurbsContour
FlexiblePlanarFfrNurbsContour(const std::string &name="")
constructor
Definition: flexible_planar_ffr_nurbs_contour.h:49
MBSimFlexibleBody::FlexiblePlanarFfrNurbsContour
flexible planar nurbs contour with local interpolation
Definition: flexible_planar_ffr_nurbs_contour.h:43
MBSim::Element::InitStage
InitStage
MBSim::ContourFrame
MBSimFlexibleBody::FlexiblePlanarFfrNurbsContour::~FlexiblePlanarFfrNurbsContour
~FlexiblePlanarFfrNurbsContour() override=default
destructor
MBSim::Element::name
std::string name
MBSim::Frame
MBSim::NurbsCurve