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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 
25 #include "mbsim/utils/boost_parameters.h"
26 #include <mbsim/utils/openmbv_utils.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=0) : RigidContour(name,R), r(r_), solid(solid_) { }
40 
44  virtual ~Circle() { }
45 
46  /* INHERITED INTERFACE OF ELEMENT */
47  std::string getType() const { return "Circle"; }
48  virtual void init(InitStage stage);
49  /***************************************************/
50 
51  /* INHERITED INTERFACE OF CONTOUR */
52  virtual fmatvec::Vec3 evalKs(const fmatvec::Vec2 &zeta);
53  virtual fmatvec::Vec3 evalKt(const fmatvec::Vec2 &zeta) { return Kt; }
54  virtual fmatvec::Vec3 evalParDer1Kn(const fmatvec::Vec2 &zeta);
55  virtual fmatvec::Vec3 evalParDer1Ku(const fmatvec::Vec2 &zeta);
56  virtual fmatvec::Vec2 evalZeta(const fmatvec::Vec3& WrPoint);
57  /***************************************************/
58 
59  /* GETTER / SETTER */
60  void setRadius(double r_) { r = r_; }
61  double getRadius() const { return r; }
62  double getSign() const { return sign; }
63  double getCurvature(const fmatvec::Vec2 &zeta) { return sign/r; }
64 
65  void setSolid(bool solid_=true) { solid = solid_; }
66  bool getSolid() const { return solid; }
67  /***************************************************/
68 
69  BOOST_PARAMETER_MEMBER_FUNCTION( (void), enableOpenMBV, tag, (optional (diffuseColor,(const fmatvec::Vec3&),"[-1;1;1]")(transparency,(double),0))) {
70  OpenMBVCircle ombv(1,diffuseColor,transparency);
71  openMBVRigidBody=ombv.createOpenMBV();
72  }
73 
74  virtual void initializeUsingXML(xercesc::DOMElement *element);
75 
76  protected:
80  double r;
81 
82  double sign;
83 
84  private:
88  bool solid;
89 
90  fmatvec::Vec3 Kt;
91  };
92 
93 }
94 
95 #endif /* CIRCLE_H_ */
96 
basic class for rigid contours
Definition: rigid_contour.h:37
virtual ~Circle()
destructor
Definition: circle.h:44
RigidContour(const std::string &name, Frame *R_=NULL)
constructor
Definition: rigid_contour.h:43
double r
radius
Definition: circle.h:80
virtual void init(InitStage stage)
plots time series header
Definition: circle.cc:73
bool solid
contact on outer surface?
Definition: circle.h:88
std::string getType() const
Definition: circle.h:47
InitStage
The stages of the initialization.
Definition: element.h:97
circular contour with contact possibility from outside and inside and binormal in direction of the th...
Definition: circle.h:36
std::string name
name of element
Definition: element.h:298
cartesian frame on bodies used for application of e.g. links and loads
Definition: frame.h:37
virtual fmatvec::Vec3 evalParDer1Ku(const fmatvec::Vec2 &zeta)
Definition: circle.cc:52
Frame * R
coordinate system of contour
Definition: rigid_contour.h:88

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