mbsim 4.0.0 MBSim Kernel

cylinder.h
1 /* Copyright (C) 2004-2022 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 _CYLINDER_H_
21 #define _CYLINDER_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/cylinder.h>
27
28 namespace MBSim {
29
34 class Cylinder : public RigidContour {
35 public:
36 Cylinder(const std::string &name="", Frame *R=nullptr) : RigidContour(name,R) { }
37
38 void init(InitStage stage, const InitConfigSet &config) override;
39
40 fmatvec::Vec3 evalKrPS(const fmatvec::Vec2 &zeta) override;
41 fmatvec::Vec3 evalKs(const fmatvec::Vec2 &zeta) override;
42 fmatvec::Vec3 evalKt(const fmatvec::Vec2 &zeta) override;
43 fmatvec::Vec3 evalKu(const fmatvec::Vec2 &zeta) override;
44 fmatvec::Vec3 evalKv(const fmatvec::Vec2 &zeta) override;
45 fmatvec::Vec3 evalKn(const fmatvec::Vec2 &zeta) override;
46 fmatvec::Vec3 evalParDer1Ku(const fmatvec::Vec2 &zeta) override;
47 fmatvec::Vec3 evalParDer2Ku(const fmatvec::Vec2 &zeta) override { return zero3; }
48 fmatvec::Vec3 evalParDer1Kv(const fmatvec::Vec2 &zeta) override;
49 fmatvec::Vec3 evalParDer2Kv(const fmatvec::Vec2 &zeta) override;
50 fmatvec::Vec3 evalParDer1Kn(const fmatvec::Vec2 &zeta) override;
51 fmatvec::Vec3 evalParDer2Kn(const fmatvec::Vec2 &zeta) override;
52
53 fmatvec::Vec3 evalParDer2Wu(const fmatvec::Vec2 &zeta) override { return zero3; }
54
55 void setRadius(double r_) { r = r_; }
56 double getRadius() { return r; }
57 void setHeight(double h_) { h = h_; }
58 double getHeight() const { return h; }
59
60 void setSolid(bool solid_=true) { solid = solid_; }
61 bool getSolid() const { return solid; }
62
63 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))) {
64 OpenMBVColoredBody ombv(diffuseColor,transparency,pointSize,lineWidth);
65 openMBVRigidBody=ombv.createOpenMBV<OpenMBV::Cylinder>();
66 }
67
68 void initializeUsingXML(xercesc::DOMElement *element) override;
69
70 private:
74 double r{1};
75
79 double h{1};
80
84 bool solid{true};
85 };
86
87 }
88
89 #endif
MBSim::Cylinder
cylinder
Definition: cylinder.h:34
MBSim::RigidContour
basic class for rigid contours
Definition: rigid_contour.h:37
OpenMBV::Cylinder
MBSim::Cylinder::init
void init(InitStage stage, const InitConfigSet &config) override
plots time series header
Definition: cylinder.cc:34
MBSim::RigidContour::RigidContour
RigidContour(const std::string &name, Frame *R_=nullptr)
constructor
Definition: rigid_contour.h:43
MBSim::Cylinder::evalParDer2Ku
fmatvec::Vec3 evalParDer2Ku(const fmatvec::Vec2 &zeta) override
Definition: cylinder.h:47
MBSim::Cylinder::evalParDer2Kv
fmatvec::Vec3 evalParDer2Kv(const fmatvec::Vec2 &zeta) override
Definition: cylinder.cc:104
MBSim::Element::InitStage
InitStage
The stages of the initialization.
Definition: element.h:62
MBSim::Cylinder::evalParDer2Wu
fmatvec::Vec3 evalParDer2Wu(const fmatvec::Vec2 &zeta) override
Definition: cylinder.h:53
MBSim::Cylinder::evalParDer1Kv
fmatvec::Vec3 evalParDer1Kv(const fmatvec::Vec2 &zeta) override
Definition: cylinder.cc:99
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::Cylinder::r
double r
radius
Definition: cylinder.h:74
MBSim::Cylinder::evalParDer1Ku
fmatvec::Vec3 evalParDer1Ku(const fmatvec::Vec2 &zeta) override
Definition: cylinder.cc:91
MBSim::Cylinder::h
double h
height
Definition: cylinder.h:79
MBSim::Cylinder::solid
bool solid
contact on outer or inner surface?
Definition: cylinder.h:84
MBSim::RigidContour::R
Frame * R
coordinate system of contour
Definition: rigid_contour.h:133
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30