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spatial_contour.h
1 /* Copyright (C) 2004-2016 MBSim Development Team
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11  * Lesser General Public License for more details.
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18  */
19 
20 #ifndef _SPATIAL_CONTOUR_H_
21 #define _SPATIAL_CONTOUR_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 
30  class ContactKinematics;
31  template <class Sig> class Function;
32 
39  class SpatialContour : public RigidContour {
40  public:
45  SpatialContour(const std::string &name="", Frame *R=NULL) : RigidContour(name,R), funcCrPC(NULL), open(false) { }
46 
50  virtual ~SpatialContour();
51 
52  /* INHERITED INTERFACE OF ELEMENT */
53  std::string getType() const { return "SpatialContour"; }
54  /***************************************************/
55 
56  /* INHERITED INTERFACE OF CONTOUR */
57  void init(InitStage stage);
58  double getCurvature(const fmatvec::Vec2 &zeta);
59  fmatvec::Vec3 evalKrPS(const fmatvec::Vec2 &zeta);
60  fmatvec::Vec3 evalKs(const fmatvec::Vec2 &zeta);
61  fmatvec::Vec3 evalKt(const fmatvec::Vec2 &zeta);
62  fmatvec::Vec3 evalParDer1Ks(const fmatvec::Vec2 &zeta);
63  fmatvec::Vec3 evalParDer2Ks(const fmatvec::Vec2 &zeta);
64  fmatvec::Vec3 evalParDer1Kt(const fmatvec::Vec2 &zeta);
65  fmatvec::Vec3 evalParDer2Kt(const fmatvec::Vec2 &zeta);
66  /***************************************************/
67 
68  /* GETTER / SETTER */
69  void setContourFunction(Function<fmatvec::Vec3(fmatvec::Vec2)> *f);
70  Function<fmatvec::Vec3(fmatvec::Vec2)>* getContourFunction() { return funcCrPC; }
71  /***************************************************/
72 
73  BOOST_PARAMETER_MEMBER_FUNCTION( (void), enableOpenMBV, tag, (optional (etaNodes,(const std::vector<double>&),std::vector<double>())(xiNodes,(const std::vector<double>&),std::vector<double>())(diffuseColor,(const fmatvec::Vec3&),"[-1;1;1]")(transparency,(double),0))) {
74  OpenMBVIndexedFaceSet ombv(diffuseColor,transparency);
75  openMBVRigidBody=ombv.createOpenMBV();
76  ombvEtaNodes = etaNodes;
77  ombvXiNodes = xiNodes;
78  }
79 
80  virtual void initializeUsingXML(xercesc::DOMElement *element);
81 
82  void setNodes(const std::vector<double> &nodes_) { etaNodes = nodes_; }
83 
84  virtual bool isZetaOutside(const fmatvec::Vec2 &zeta) { return open and (zeta(0) < etaNodes[0] or zeta(0) > etaNodes[etaNodes.size()-1]); }
85 
86  void setOpen(bool open_=true) { open = open_; }
87 
88  protected:
89  Function<fmatvec::Vec3(fmatvec::Vec2)> * funcCrPC;
90  bool open;
91 
92  std::vector<double> ombvEtaNodes;
93  std::vector<double> ombvXiNodes;
94  };
95 
96 }
97 
98 #endif
99 
basic class for rigid contours
Definition: rigid_contour.h:37
SpatialContour(const std::string &name="", Frame *R=NULL)
constructor
Definition: spatial_contour.h:45
analytical description of contours with one contour parameter
Definition: spatial_contour.h:39
void init(InitStage stage)
plots time series header
Definition: spatial_contour.cc:72
InitStage
The stages of the initialization.
Definition: element.h:97
Definition: planar_contour.h:31
std::string name
name of element
Definition: element.h:298
std::string getType() const
Definition: spatial_contour.h:53
cartesian frame on bodies used for application of e.g. links and loads
Definition: frame.h:37
virtual ~SpatialContour()
destructor
Definition: spatial_contour.cc:34
Frame * R
coordinate system of contour
Definition: rigid_contour.h:88

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