mbsim 4.0.0 MBSim Kernel

plane.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 _PLANE_H_
21 #define _PLANE_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/cuboid.h>
28
29 namespace MBSim {
30
39 class Plane : public RigidContour {
40 public:
45 Plane(const std::string &name="", Frame *R=nullptr) : RigidContour(name,R) { }
46
47 /* INHERITED INTERFACE OF ELEMENT */
48 /***************************************************/
49
50 /* INTERFACE OF CONTOUR */
51 fmatvec::Vec3 evalKrPS(const fmatvec::Vec2 &zeta) override;
52 fmatvec::Vec3 evalKs(const fmatvec::Vec2 &zeta) override { return ey; }
53 fmatvec::Vec3 evalKt(const fmatvec::Vec2 &zeta) override { return ez; }
54 fmatvec::Vec3 evalKu(const fmatvec::Vec2 &zeta) override { return evalKs(zeta); }
55 fmatvec::Vec3 evalKv(const fmatvec::Vec2 &zeta) override { return evalKt(zeta); }
56 fmatvec::Vec3 evalKn(const fmatvec::Vec2 &zeta) override { return ex; }
57 fmatvec::Vec3 evalParDer1Ku(const fmatvec::Vec2 &zeta) override { return zero3; }
58 fmatvec::Vec3 evalParDer2Ku(const fmatvec::Vec2 &zeta) override { return zero3; }
59 fmatvec::Vec3 evalParDer1Kv(const fmatvec::Vec2 &zeta) override { return zero3; }
60 fmatvec::Vec3 evalParDer2Kv(const fmatvec::Vec2 &zeta) override { return zero3; }
61 fmatvec::Vec3 evalParDer1Kn(const fmatvec::Vec2 &zeta) override { return zero3; }
62 fmatvec::Vec3 evalParDer2Kn(const fmatvec::Vec2 &zeta) override { return zero3; }
63
64 fmatvec::Vec3 evalWs(const fmatvec::Vec2 &zeta) override { return R->evalOrientation().col(1); }
65 fmatvec::Vec3 evalWt(const fmatvec::Vec2 &zeta) override { return R->evalOrientation().col(2); }
66 fmatvec::Vec3 evalWu(const fmatvec::Vec2 &zeta) override { return evalWs(zeta); }
67 fmatvec::Vec3 evalWv(const fmatvec::Vec2 &zeta) override { return evalWt(zeta); }
68 fmatvec::Vec3 evalWn(const fmatvec::Vec2 &zeta) override { return R->evalOrientation().col(0); }
69 fmatvec::Vec3 evalParDer1Wu(const fmatvec::Vec2 &zeta) override { return zero3; }
70 fmatvec::Vec3 evalParDer2Wu(const fmatvec::Vec2 &zeta) override { return zero3; }
71 fmatvec::Vec3 evalParDer1Wv(const fmatvec::Vec2 &zeta) override { return zero3; }
72 fmatvec::Vec3 evalParDer2Wv(const fmatvec::Vec2 &zeta) override { return zero3; }
73 fmatvec::Vec3 evalParDer1Wn(const fmatvec::Vec2 &zeta) override { return zero3; }
74 fmatvec::Vec3 evalParDer2Wn(const fmatvec::Vec2 &zeta) override { return zero3; }
75
76 fmatvec::Vec2 evalZeta(const fmatvec::Vec3 &WrPoint) override;
77 /***************************************************/
78
79 BOOST_PARAMETER_MEMBER_FUNCTION( (void), enableOpenMBV, tag, (optional (length,(fmatvec::Vec2),fmatvec::Vec2(fmatvec::INIT,1))(diffuseColor,(const fmatvec::Vec3&),fmatvec::Vec3(std::vector<double>{-1,1,1}))(transparency,(double),0)(pointSize,(double),0)(lineWidth,(double),0))) {
80 OpenMBVPlane ombv(length,diffuseColor,transparency,pointSize,lineWidth);
81 openMBVRigidBody=ombv.createOpenMBV();
82 }
83
84 void initializeUsingXML(xercesc::DOMElement *element) override;
85 };
86 }
87
88 #endif /* _PLANE_H_ */
MBSim::Plane::evalParDer2Wu
fmatvec::Vec3 evalParDer2Wu(const fmatvec::Vec2 &zeta) override
Definition: plane.h:70
MBSim::RigidContour
basic class for rigid contours
Definition: rigid_contour.h:37
MBSim::Plane::evalParDer1Wv
fmatvec::Vec3 evalParDer1Wv(const fmatvec::Vec2 &zeta) override
Definition: plane.h:71
MBSim::Plane::evalParDer2Ku
fmatvec::Vec3 evalParDer2Ku(const fmatvec::Vec2 &zeta) override
Definition: plane.h:58
MBSim::Plane::evalParDer1Wu
fmatvec::Vec3 evalParDer1Wu(const fmatvec::Vec2 &zeta) override
Definition: plane.h:69
MBSim::Plane::evalParDer2Wn
fmatvec::Vec3 evalParDer2Wn(const fmatvec::Vec2 &zeta) override
Definition: plane.h:74
MBSim::Plane::evalWv
fmatvec::Vec3 evalWv(const fmatvec::Vec2 &zeta) override
Definition: plane.h:67
MBSim::Plane::evalParDer1Wn
fmatvec::Vec3 evalParDer1Wn(const fmatvec::Vec2 &zeta) override
Definition: plane.h:73
MBSim::Plane::evalParDer1Kv
fmatvec::Vec3 evalParDer1Kv(const fmatvec::Vec2 &zeta) override
Definition: plane.h:59
MBSim::Plane
plane without borders
Definition: plane.h:39
MBSim::Plane::Plane
Plane(const std::string &name="", Frame *R=nullptr)
constructor
Definition: plane.h:45
MBSim::Plane::evalParDer2Kv
fmatvec::Vec3 evalParDer2Kv(const fmatvec::Vec2 &zeta) override
Definition: plane.h:60
MBSim::Plane::evalParDer1Ku
fmatvec::Vec3 evalParDer1Ku(const fmatvec::Vec2 &zeta) override
Definition: plane.h:57
MBSim::Plane::evalParDer2Wv
fmatvec::Vec3 evalParDer2Wv(const fmatvec::Vec2 &zeta) override
Definition: plane.h:72
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::Plane::evalWn
fmatvec::Vec3 evalWn(const fmatvec::Vec2 &zeta) override
Definition: plane.h:68
MBSim::RigidContour::R
Frame * R
coordinate system of contour
Definition: rigid_contour.h:133
MBSim::Plane::evalWs
fmatvec::Vec3 evalWs(const fmatvec::Vec2 &zeta) override
Definition: plane.h:64
MBSim::Plane::evalWu
fmatvec::Vec3 evalWu(const fmatvec::Vec2 &zeta) override
Definition: plane.h:66
MBSim::Plane::evalWt
fmatvec::Vec3 evalWt(const fmatvec::Vec2 &zeta) override
Definition: plane.h:65
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30