mbsim 4.0.0 MBSim Kernel

sphere.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 SPHERE_H_
21 #define SPHERE_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/sphere.h>
27
28 namespace MBSim {
29
34 class Sphere : public RigidContour {
35 public:
42 Sphere(const std::string &name="", double r_=1, Frame *R=nullptr) : RigidContour(name,R), r(r_) { }
43
44 /* INHERITED INTERFACE OF ELEMENT */
45 void init(InitStage stage, const InitConfigSet &config) override;
46 void initializeUsingXML(xercesc::DOMElement *element) override;
47 /***************************************************/
48
49 /* INHERITED INTERFACE OF CONTOUR */
50 fmatvec::Vec3 evalKrPS(const fmatvec::Vec2 &zeta) override;
51 fmatvec::Vec3 evalKs(const fmatvec::Vec2 &zeta) override;
52 fmatvec::Vec3 evalKt(const fmatvec::Vec2 &zeta) override;
53 fmatvec::Vec3 evalKu(const fmatvec::Vec2 &zeta) override;
54 fmatvec::Vec3 evalKv(const fmatvec::Vec2 &zeta) override;
55 fmatvec::Vec3 evalKn(const fmatvec::Vec2 &zeta) override;
56 fmatvec::Vec3 evalParDer1Ku(const fmatvec::Vec2 &zeta) override;
57 fmatvec::Vec3 evalParDer2Ku(const fmatvec::Vec2 &zeta) override { return zero3; }
58 fmatvec::Vec3 evalParDer1Kv(const fmatvec::Vec2 &zeta) override;
59 fmatvec::Vec3 evalParDer2Kv(const fmatvec::Vec2 &zeta) override;
60 fmatvec::Vec3 evalParDer1Kn(const fmatvec::Vec2 &zeta) override;
61 fmatvec::Vec3 evalParDer2Kn(const fmatvec::Vec2 &zeta) override;
62
63 fmatvec::Vec3 evalParDer2Wu(const fmatvec::Vec2 &zeta) override { return zero3; }
64
65 fmatvec::Vec2 evalZeta(const fmatvec::Vec3 &WrPoint) override;
66 /**********************************/
67
68 /* GETTER / SETTER */
69 void setRadius(double r_) { r = r_; }
70 double getRadius() const { return r; }
71 /***************************************************/
72
73 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))) {
74 OpenMBVColoredBody ombv(diffuseColor,transparency,pointSize,lineWidth);
75 openMBVRigidBody=ombv.createOpenMBV<OpenMBV::Sphere>();
76 }
77
78 protected:
82 double r{1};
83 };
84
85 }
86
87 #endif /* SPHERE_H_ */
MBSim::RigidContour
basic class for rigid contours
Definition: rigid_contour.h:37
MBSim::Sphere::evalParDer2Wu
fmatvec::Vec3 evalParDer2Wu(const fmatvec::Vec2 &zeta) override
Definition: sphere.h:63
OpenMBV::Sphere
MBSim::Sphere
sphere
Definition: sphere.h:34
MBSim::Sphere::Sphere
Sphere(const std::string &name="", double r_=1, Frame *R=nullptr)
constructor
Definition: sphere.h:42
MBSim::Sphere::evalParDer1Kv
fmatvec::Vec3 evalParDer1Kv(const fmatvec::Vec2 &zeta) override
Definition: sphere.cc:108
MBSim::Element::InitStage
InitStage
The stages of the initialization.
Definition: element.h:62
MBSim::Sphere::evalParDer2Kv
fmatvec::Vec3 evalParDer2Kv(const fmatvec::Vec2 &zeta) override
Definition: sphere.cc:117
MBSim::Sphere::evalParDer1Ku
fmatvec::Vec3 evalParDer1Ku(const fmatvec::Vec2 &zeta) override
Definition: sphere.cc:100
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::Sphere::evalParDer2Ku
fmatvec::Vec3 evalParDer2Ku(const fmatvec::Vec2 &zeta) override
Definition: sphere.h:57
MBSim::Sphere::init
void init(InitStage stage, const InitConfigSet &config) override
plots time series header
Definition: sphere.cc:35
MBSim::RigidContour::R
Frame * R
coordinate system of contour
Definition: rigid_contour.h:133
MBSim::Sphere::r
double r
radius
Definition: sphere.h:82
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30