mbsim 4.0.0 MBSim Kernel

circle.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 CIRCLE_H_
21 #define CIRCLE_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/frustum.h>
27
28 namespace MBSim {
29
36 class Circle : public RigidContour {
37 public:
38
39 Circle(const std::string& name="", double r_=1., bool solid_=true, Frame *R=nullptr) : RigidContour(name,R), r(r_), solid(solid_) { }
40
44 ~Circle() override = default;
45
46 /* INHERITED INTERFACE OF ELEMENT */
47 void init(InitStage stage, const InitConfigSet &config) override;
48 /***************************************************/
49
50 /* INHERITED INTERFACE OF CONTOUR */
51 fmatvec::Vec3 evalKrPS(const fmatvec::Vec2 &zeta) override;
52 fmatvec::Vec3 evalKs(const fmatvec::Vec2 &zeta) override;
53 fmatvec::Vec3 evalKt(const fmatvec::Vec2 &zeta) override { return zero3; }
54 fmatvec::Vec3 evalKu(const fmatvec::Vec2 &zeta) override;
55 fmatvec::Vec3 evalKv(const fmatvec::Vec2 &zeta) override;
56 fmatvec::Vec3 evalKn(const fmatvec::Vec2 &zeta) override;
57 fmatvec::Vec3 evalParDer1Ku(const fmatvec::Vec2 &zeta) override;
58 fmatvec::Vec3 evalParDer2Ku(const fmatvec::Vec2 &zeta) override { return zero3; }
59 fmatvec::Vec3 evalParDer1Kv(const fmatvec::Vec2 &zeta) override;
60 fmatvec::Vec3 evalParDer2Kv(const fmatvec::Vec2 &zeta) override;
61 fmatvec::Vec3 evalParDer1Kn(const fmatvec::Vec2 &zeta) override;
62 fmatvec::Vec3 evalParDer2Kn(const fmatvec::Vec2 &zeta) override;
63
64 fmatvec::Vec3 evalWt(const fmatvec::Vec2 &zeta) override { return zero3; }
65 fmatvec::Vec3 evalParDer2Wu(const fmatvec::Vec2 &zeta) override { return zero3; }
66
67 fmatvec::Vec2 evalZeta(const fmatvec::Vec3& WrPoint) override;
68 /***************************************************/
69
70 /* GETTER / SETTER */
71 void setRadius(double r_) { r = r_; }
72 double getRadius() const { return r; }
73 double getSign() const { return sign; }
74 double getCurvature(const fmatvec::Vec2 &zeta) { return sign/r; }
75
76 void setSolid(bool solid_=true) { solid = solid_; }
77 bool getSolid() const { return solid; }
78 /***************************************************/
79
80 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))) {
81 OpenMBVColoredBody ombv(diffuseColor,transparency,pointSize,lineWidth);
82 openMBVRigidBody=ombv.createOpenMBV<OpenMBV::Frustum>();
83 }
84
85 void initializeUsingXML(xercesc::DOMElement *element) override;
86
87 protected:
91 double r;
92
93 double sign;
94
95 private:
99 bool solid;
100
101 fmatvec::Vec3 Kt;
102 };
103
104 }
105
106 #endif /* CIRCLE_H_ */
MBSim::RigidContour
basic class for rigid contours
Definition: rigid_contour.h:37
MBSim::Circle::evalParDer2Ku
fmatvec::Vec3 evalParDer2Ku(const fmatvec::Vec2 &zeta) override
Definition: circle.h:58
MBSim::Circle::r
double r
radius
Definition: circle.h:91
MBSim::RigidContour::RigidContour
RigidContour(const std::string &name, Frame *R_=nullptr)
constructor
Definition: rigid_contour.h:43
MBSim::Circle::evalParDer2Kv
fmatvec::Vec3 evalParDer2Kv(const fmatvec::Vec2 &zeta) override
Definition: circle.cc:98
MBSim::Circle::evalParDer1Ku
fmatvec::Vec3 evalParDer1Ku(const fmatvec::Vec2 &zeta) override
Definition: circle.cc:80
MBSim::Circle::evalParDer2Wu
fmatvec::Vec3 evalParDer2Wu(const fmatvec::Vec2 &zeta) override
Definition: circle.h:65
MBSim::Circle::init
void init(InitStage stage, const InitConfigSet &config) override
plots time series header
Definition: circle.cc:140
MBSim::Circle::solid
bool solid
contact on outer surface?
Definition: circle.h:99
MBSim::Circle::evalParDer1Kv
fmatvec::Vec3 evalParDer1Kv(const fmatvec::Vec2 &zeta) override
Definition: circle.cc:88
MBSim::Element::InitStage
InitStage
The stages of the initialization.
Definition: element.h:62
MBSim::Circle
circular contour with contact possibility from outside and inside and binormal in direction of the th...
Definition: circle.h:36
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
OpenMBV::Frustum
MBSim::RigidContour::R
Frame * R
coordinate system of contour
Definition: rigid_contour.h:133
MBSim::Circle::evalWt
fmatvec::Vec3 evalWt(const fmatvec::Vec2 &zeta) override
Definition: circle.h:64
MBSim::Circle::~Circle
~Circle() override=default
destructor
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30