mbsim 4.0.0 MBSim Kernel

line.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 _LINE_H_
21 #define _LINE_H_
22
23 #include "mbsim/contours/rigid_contour.h"
24 #include "mbsim/frames/frame.h"
25 #include "mbsim/utils/boost_parameters.h"
26 #include "mbsim/utils/openmbv_utils.h"
27 #include <openmbvcppinterface/indexedlineset.h>
28
29 namespace MBSim {
30
36 class Line : public MBSim::RigidContour {
37 public:
42 Line(const std::string& name="", Frame *R=nullptr) : RigidContour(name,R) { }
43
44 /* INHERITED INTERFACE OF CONTOUR */
45 fmatvec::Vec3 evalKrPS(const fmatvec::Vec2 &zeta) override;
46 fmatvec::Vec3 evalKs(const fmatvec::Vec2 &zeta) override { return ey; }
47 fmatvec::Vec3 evalKt(const fmatvec::Vec2 &zeta) override { return zero3; }
48 fmatvec::Vec3 evalKu(const fmatvec::Vec2 &zeta) override { return evalKs(zeta); }
49 fmatvec::Vec3 evalKv(const fmatvec::Vec2 &zeta) override { return evalKt(zeta); }
50 fmatvec::Vec3 evalKn(const fmatvec::Vec2 &zeta) override { return ex; }
51 fmatvec::Vec3 evalParDer1Ku(const fmatvec::Vec2 &zeta) override { return zero3; }
52 fmatvec::Vec3 evalParDer1Kv(const fmatvec::Vec2 &zeta) override { return zero3; }
53 fmatvec::Vec3 evalParDer1Kn(const fmatvec::Vec2 &zeta) override { return zero3; }
54
55 fmatvec::Vec3 evalWs(const fmatvec::Vec2 &zeta) override { return R->evalOrientation().col(1); }
56 fmatvec::Vec3 evalWt(const fmatvec::Vec2 &zeta) override { return zero3; }
57 fmatvec::Vec3 evalWu(const fmatvec::Vec2 &zeta) override { return evalWs(zeta); }
58 fmatvec::Vec3 evalWv(const fmatvec::Vec2 &zeta) override { return evalWt(zeta); }
59 fmatvec::Vec3 evalWn(const fmatvec::Vec2 &zeta) override { return R->evalOrientation().col(0); }
60 fmatvec::Vec3 evalParDer1Wu(const fmatvec::Vec2 &zeta) override { return zero3; }
61 fmatvec::Vec3 evalParDer1Wv(const fmatvec::Vec2 &zeta) override { return zero3; }
62 fmatvec::Vec3 evalParDer1Wn(const fmatvec::Vec2 &zeta) override { return zero3; }
63 /***************************************************/
64
65 virtual double getCurvature(const fmatvec::Vec2 &zeta) { return 0; }
66
67 BOOST_PARAMETER_MEMBER_FUNCTION( (void), enableOpenMBV, tag, (optional (length,(double),1)(diffuseColor,(const fmatvec::Vec3&),fmatvec::Vec3(std::vector<double>{-1,1,1}))(transparency,(double),0)(pointSize,(double),0)(lineWidth,(double),0))) {
68 OpenMBVLine ombv(length,diffuseColor,transparency,pointSize,lineWidth);
69 openMBVRigidBody=ombv.createOpenMBV();
70 }
71
72 void initializeUsingXML(xercesc::DOMElement *element) override;
73 };
74 }
75
76 #endif /* _LINE_H_ */
MBSim::RigidContour
basic class for rigid contours
Definition: rigid_contour.h:37
MBSim::Line::evalWv
fmatvec::Vec3 evalWv(const fmatvec::Vec2 &zeta) override
Definition: line.h:58
MBSim::Line::evalWs
fmatvec::Vec3 evalWs(const fmatvec::Vec2 &zeta) override
Definition: line.h:55
MBSim::Line::evalWt
fmatvec::Vec3 evalWt(const fmatvec::Vec2 &zeta) override
Definition: line.h:56
MBSim::Line::Line
Line(const std::string &name="", Frame *R=nullptr)
constructor
Definition: line.h:42
MBSim::Line
unbounded line with constant normal
Definition: line.h:36
MBSim::Line::evalWn
fmatvec::Vec3 evalWn(const fmatvec::Vec2 &zeta) override
Definition: line.h:59
MBSim::Line::evalWu
fmatvec::Vec3 evalWu(const fmatvec::Vec2 &zeta) override
Definition: line.h:57
MBSim::Line::evalParDer1Wu
fmatvec::Vec3 evalParDer1Wu(const fmatvec::Vec2 &zeta) override
Definition: line.h:60
MBSim::Line::evalParDer1Kv
fmatvec::Vec3 evalParDer1Kv(const fmatvec::Vec2 &zeta) override
Definition: line.h:52
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::Line::evalParDer1Wv
fmatvec::Vec3 evalParDer1Wv(const fmatvec::Vec2 &zeta) override
Definition: line.h:61
MBSim::RigidContour::R
Frame * R
coordinate system of contour
Definition: rigid_contour.h:133
MBSim::Line::evalParDer1Wn
fmatvec::Vec3 evalParDer1Wn(const fmatvec::Vec2 &zeta) override
Definition: line.h:62
MBSim::Line::evalParDer1Ku
fmatvec::Vec3 evalParDer1Ku(const fmatvec::Vec2 &zeta) override
Definition: line.h:51
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30