mbsimflexiblebody 4.0.0 MBSim Flexible Body Module

nodes_contour.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 _NODES_CONTOUR_H_
21 #define _NODES_CONTOUR_H_
22
23 #include "mbsim/contours/contour.h"
24 #include "mbsimFlexibleBody/utils/contact_utils.h"
25
26 namespace MBSim {
27 class ContourFrame;
28 }
29
30 namespace OpenMBV {
31 class DynamicPointSet;
32 }
33
34 namespace MBSimFlexibleBody {
35
40 class NodesContour : public MBSim::Contour {
41 public:
46 NodesContour(const std::string &name="") : MBSim::Contour(name) { }
47
51 ~NodesContour() override = default;
52
53 void setNodeNumbers(const fmatvec::VecVI &nodes_) { nodes <<= nodes_; }
54 const fmatvec::VecVI& getNodeNumbers() const { return nodes; }
55
56 const fmatvec::Vec3& evalPosition(int i);
57
58 void updatePositions(MBSim::Frame *frame) override;
59 void updateVelocities(MBSim::Frame *frame) override;
60 void updateAccelerations(MBSim::Frame *frame) override;
61 void updateJacobians(MBSim::Frame *frame, int j=0) override;
62 void updateGyroscopicAccelerations(MBSim::Frame *frame) override;
63
64 void plot() override;
65
66 // virtual fmatvec::Vec3 evalWs_t(const fmatvec::Vec2 &zeta);
67 // virtual fmatvec::Vec3 evalWt_t(const fmatvec::Vec2 &zeta);
68 // virtual fmatvec::Vec3 evalWu_t(const fmatvec::Vec2 &zeta);
69 // virtual fmatvec::Vec3 evalWv_t(const fmatvec::Vec2 &zeta);
70 // virtual fmatvec::Vec3 evalWn_t(const fmatvec::Vec2 &zeta);
71
72 MBSim::ContactKinematics * findContactPairingWith(const std::type_info &type0, const std::type_info &type1) override { return findContactPairingFlexible(type0, type1); }
73
74 void init(InitStage stage, const MBSim::InitConfigSet &config) override;
75 void initializeUsingXML(xercesc::DOMElement *element) override;
76
77 MBSim::ContourFrame* createContourFrame(const std::string &name="P") override;
78
79 private:
83 fmatvec::VecVI nodes;
84
85 std::map<MBSim::ContourFrame*,int> frameMap;
86
87 int i{0};
88
89 std::shared_ptr<OpenMBV::DynamicPointSet> openMBVBody;
90 };
91
92 }
93
94 #endif
MBSimFlexibleBody::NodesContour
nodes contour
Definition: nodes_contour.h:40
MBSimFlexibleBody::NodesContour::nodes
fmatvec::VecVI nodes
node numbers
Definition: nodes_contour.h:83
MBSim::Contour
MBSimFlexibleBody::NodesContour::NodesContour
NodesContour(const std::string &name="")
constructor
Definition: nodes_contour.h:46
MBSim::Contour::Contour
Contour(const std::string &name)
MBSim::Element::InitStage
InitStage
MBSim::ContourFrame
MBSim::Element::name
std::string name
MBSim::Frame
MBSim::ContactKinematics
MBSimFlexibleBody::NodesContour::~NodesContour
~NodesContour() override=default
destructor