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point.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 _POINT_H_
21 #define _POINT_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 
35  class Point : public MBSim::RigidContour {
36  public:
41  Point(const std::string& name="", Frame *R=0) : RigidContour(name,R) {}
42 
43  /* INHERITED INTERFACE OF ELEMENT */
44  std::string getType() const { return "Point"; }
45  /***************************************************/
46 
47  virtual fmatvec::Vec3 evalParDer1Ku(const fmatvec::Vec2 &zeta);
48 
49  virtual fmatvec::Vec3 evalParDer2Ku(const fmatvec::Vec2 &zeta);
50 
51  virtual fmatvec::Vec3 evalParDer1Kv(const fmatvec::Vec2 &zeta);
52 
53  virtual fmatvec::Vec3 evalParDer2Kv(const fmatvec::Vec2 &zeta);
54 
55  virtual fmatvec::Vec3 evalParDer1Wn(const fmatvec::Vec2 &zeta);
56 
57  virtual fmatvec::Vec3 evalParDer2Wn(const fmatvec::Vec2 &zeta);
58 
59  /* INHERITED INTERFACE OF CONTOUR */
60  fmatvec::Vec2 evalZeta(const fmatvec::Vec3 &WrPS) { return fmatvec::Vec2(fmatvec::INIT,0.); }
61  /**********************************/
62 
63  BOOST_PARAMETER_MEMBER_FUNCTION( (void), enableOpenMBV, tag, (optional (size,(double),0.001)(diffuseColor,(const fmatvec::Vec3&),"[-1;1;1]")(transparency,(double),0))) {
64  OpenMBVSphere ombv(size,diffuseColor,transparency);
65  openMBVRigidBody=ombv.createOpenMBV();
66  }
67 
68  virtual void initializeUsingXML(xercesc::DOMElement *element);
69  };
70 
71 }
72 
73 #endif /* _POINT_H_ */
virtual fmatvec::Vec3 evalParDer1Ku(const fmatvec::Vec2 &zeta)
Definition: point.cc:35
basic class for rigid contours
Definition: rigid_contour.h:37
virtual fmatvec::Vec3 evalParDer1Wn(const fmatvec::Vec2 &zeta)
Definition: point.cc:69
virtual fmatvec::Vec3 evalParDer1Kv(const fmatvec::Vec2 &zeta)
Definition: point.cc:49
virtual fmatvec::Vec3 evalParDer2Kv(const fmatvec::Vec2 &zeta)
Definition: point.cc:59
virtual fmatvec::Vec3 evalParDer2Ku(const fmatvec::Vec2 &zeta)
Definition: point.cc:44
Point(const std::string &name="", Frame *R=0)
constructor
Definition: point.h:41
std::string getType() const
Definition: point.h:44
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 evalParDer2Wn(const fmatvec::Vec2 &zeta)
Definition: point.cc:79
Frame * R
coordinate system of contour
Definition: rigid_contour.h:88
most primitive contour: the point (no extention)
Definition: point.h:35

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