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sphere.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 SPHERE_H_
21 #define SPHERE_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 Sphere : public RigidContour {
37  public:
42  Sphere(const std::string &name="", Frame *R=0) : RigidContour(name,R), r(0.) {}
43 
49  Sphere(const std::string &name, double r_, Frame *R=0) : RigidContour(name,R), r(r_) {}
50 
51  /* INHERITED INTERFACE OF ELEMENT */
52  std::string getType() const { return "Sphere"; }
53  virtual void init(InitStage stage);
54  /***************************************************/
55 
56  virtual fmatvec::Vec3 evalKs(const fmatvec::Vec2 &zeta);
57 
58  virtual fmatvec::Vec3 evalKt(const fmatvec::Vec2 &zeta);
59 
60  virtual fmatvec::Vec3 evalParDer1Ku(const fmatvec::Vec2 &zeta);
61 
62  virtual fmatvec::Vec3 evalParDer2Ku(const fmatvec::Vec2 &zeta);
63 
64  virtual fmatvec::Vec3 evalParDer1Kv(const fmatvec::Vec2 &zeta);
65 
66  virtual fmatvec::Vec3 evalParDer2Kv(const fmatvec::Vec2 &zeta);
67 
68  virtual fmatvec::Vec3 evalParDer1Wn(const fmatvec::Vec2 &zeta);
69 
70  virtual fmatvec::Vec3 evalParDer2Wn(const fmatvec::Vec2 &zeta);
71 
72  /* INHERITED INTERFACE OF CONTOUR */
73  fmatvec::Vec2 evalZeta(const fmatvec::Vec3 &WrPoint);
74  /**********************************/
75 
76  /* GETTER / SETTER */
77  void setRadius(double r_) { r = r_; }
78  double getRadius() const { return r; }
79  /***************************************************/
80 
81  BOOST_PARAMETER_MEMBER_FUNCTION( (void), enableOpenMBV, tag, (optional (diffuseColor,(const fmatvec::Vec3&),"[-1;1;1]")(transparency,(double),0))) {
82  OpenMBVSphere ombv(1,diffuseColor,transparency);
83  openMBVRigidBody=ombv.createOpenMBV();
84  }
85 
86  virtual void initializeUsingXML(xercesc::DOMElement *element);
87 
88  protected:
92  double r;
93  };
94 
95 }
96 
97 #endif /* SPHERE_H_ */
basic class for rigid contours
Definition: rigid_contour.h:37
virtual fmatvec::Vec3 evalParDer1Wn(const fmatvec::Vec2 &zeta)
Definition: sphere.cc:105
virtual fmatvec::Vec3 evalParDer2Wn(const fmatvec::Vec2 &zeta)
Definition: sphere.cc:115
sphere
Definition: sphere.h:36
virtual void init(InitStage stage)
plots time series header
Definition: sphere.cc:36
std::string getType() const
Definition: sphere.h:52
virtual fmatvec::Vec3 evalParDer1Ku(const fmatvec::Vec2 &zeta)
Definition: sphere.cc:71
InitStage
The stages of the initialization.
Definition: element.h:97
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
Sphere(const std::string &name="", Frame *R=0)
constructor
Definition: sphere.h:42
virtual fmatvec::Vec3 evalParDer2Ku(const fmatvec::Vec2 &zeta)
Definition: sphere.cc:80
virtual fmatvec::Vec3 evalParDer2Kv(const fmatvec::Vec2 &zeta)
Definition: sphere.cc:95
Sphere(const std::string &name, double r_, Frame *R=0)
constructor
Definition: sphere.h:49
Frame * R
coordinate system of contour
Definition: rigid_contour.h:88
virtual fmatvec::Vec3 evalParDer1Kv(const fmatvec::Vec2 &zeta)
Definition: sphere.cc:85
double r
radius
Definition: sphere.h:92

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