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frustum.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 _FRUSTUM_H_
21 #define _FRUSTUM_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 Frustum : public RigidContour {
37  public:
42  Frustum(const std::string &name="", Frame *R=0) : RigidContour(name,R), h(0.), outCont(false) {}
43 
44  Frustum(const std::string &name, const fmatvec::Vec2 &r_, double h_, Frame *R=0) : RigidContour(name,R), r(r_), h(h_), outCont(false) {}
45 
46  Frustum(const std::string &name, const fmatvec::Vec2 &r_, double h_, bool outCont_, Frame *R=0) : RigidContour(name,R), r(r_), h(h_), outCont(outCont_) {}
47 
48  /* INHERITED INTERFACE OF ELEMENT */
49  std::string getType() const { return "Frustum"; }
50  virtual void init(InitStage stage);
51  /***************************************************/
52 
53  /* INHERITED INTERFACE OF CONTOUR */
54  virtual fmatvec::Vec2 evalZeta(const fmatvec::Vec3 &WrPoint);
55  /***************************************************/
56 
62  Frustum(const std::string &name, bool outCont_) : RigidContour(name), h(0.), outCont(outCont_) {}
63 
64  /* GETTER / SETTER */
65  void setRadii(const fmatvec::Vec2 &r_);
66  const fmatvec::Vec2& getRadii() const;
67  void setHeight(double h_);
68  double getHeight() const;
69  void setOutCont(bool outCont_);
70  bool getOutCont() const;
71  /***************************************************/
72 
73  BOOST_PARAMETER_MEMBER_FUNCTION( (void), enableOpenMBV, tag, (optional (diffuseColor,(const fmatvec::Vec3&),"[-1;1;1]")(transparency,(double),0))) {
74  OpenMBVFrustum ombv(1,1,1,diffuseColor,transparency);
75  openMBVRigidBody=ombv.createOpenMBV();
76  }
77 
78  virtual void initializeUsingXML(xercesc::DOMElement *element);
79 
80  private:
84  fmatvec::Vec2 r;
85 
89  double h;
90 
94  bool outCont;
95  };
96 
97  inline void Frustum::setRadii(const fmatvec::Vec2 &r_) { r = r_; }
98  inline const fmatvec::Vec2& Frustum::getRadii() const { return r; }
99  inline void Frustum::setHeight(double h_) { h = h_; }
100  inline double Frustum::getHeight() const { return h; }
101  inline void Frustum::setOutCont(bool outCont_) { outCont = outCont_; }
102  inline bool Frustum::getOutCont() const { return outCont; }
103 }
104 
105 #endif /* _FRUSTUM_H_ */
frustum with axis in direction of second column of contour reference frame
Definition: frustum.h:36
basic class for rigid contours
Definition: rigid_contour.h:37
RigidContour(const std::string &name, Frame *R_=NULL)
constructor
Definition: rigid_contour.h:43
virtual void init(InitStage stage)
plots time series header
Definition: frustum.cc:37
Frustum(const std::string &name, bool outCont_)
constructor
Definition: frustum.h:62
InitStage
The stages of the initialization.
Definition: element.h:97
std::string name
name of element
Definition: element.h:298
Definition: openmbv_utils.h:127
cartesian frame on bodies used for application of e.g. links and loads
Definition: frame.h:37
fmatvec::Vec2 r
upper r(1) and lower radius r(0) in direction of the axis
Definition: frustum.h:84
double h
height
Definition: frustum.h:89
Frustum(const std::string &name="", Frame *R=0)
constructor with contact from inside
Definition: frustum.h:42
Frame * R
coordinate system of contour
Definition: rigid_contour.h:88
std::string getType() const
Definition: frustum.h:49
bool outCont
contact on outer or inner surface?
Definition: frustum.h:94

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