contact_kinematics.h

/* Copyright (C) 2004-2009 MBSim Development Team
 *
 * This library is free software; you can redistribute it and/or 
 * modify it under the terms of the GNU Lesser General Public 
 * License as published by the Free Software Foundation; either 
 * version 2.1 of the License, or (at your option) any later version. 
 *  
 * This library is distributed in the hope that it will be useful, 
 * but WITHOUT ANY WARRANTY; without even the implied warranty of 
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU 
 * Lesser General Public License for more details. 
 *  
 * You should have received a copy of the GNU Lesser General Public 
 * License along with this library; if not, write to the Free Software 
 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301 USA
 *
 * Contact: martin.o.foerg@googlemail.com
 */
 
#ifndef _CONTACT_KINEMATICS_H_
#define _CONTACT_KINEMATICS_H_
 
#include "mbsim/links/single_contact.h"
#include "fmatvec/fmatvec.h"
#include "fmatvec/atom.h"
#include <vector>
 
namespace MBSim {
 
  class ContourFrame;
  class Contour;
  template<typename Sig> class Function;
 
  class ContactKinematics : virtual public fmatvec::Atom {
    public:
      ContactKinematics(int maxNumContacts_=1) : maxNumContacts(maxNumContacts_) { }
 
      ~ContactKinematics() override = default;
 
      /* INTERFACE FOR DERIVED CLASSES */
      virtual void assignContours(const std::vector<Contour*> &contour_) { contour = contour_; }
 
      virtual void calcisSize() { isSize = 0; }
      void setisInd(int ind) { isInd = ind; }
      int getisSize() { return isSize; }
      virtual void updateInternalStateRef(fmatvec::Vec &curisParent, fmatvec::Vec &nextisParent) {
        curis.ref(curisParent, fmatvec::RangeV(isInd,isInd+isSize-1));
        nextis.ref(nextisParent, fmatvec::RangeV(isInd,isInd+isSize-1));
      }
 
      virtual void search() { }
 
      virtual void updateg(std::vector<SingleContact> &contact);
 
      virtual void updateg(SingleContact &contact, int i=0) { }
 
      virtual void updatewb(std::vector<SingleContact> &contact) { for(int i=0; i<maxNumContacts; i++) updatewb(contact[i],i); }
 
      virtual void updatewb(SingleContact &contact, int i=0);
      
      void assignContours(Contour *contour1, Contour *contour2) { std::vector<Contour*> c; c.push_back(contour1);c.push_back(contour2); assignContours(c); }
 
      int getMaximumNumberOfContacts() const { return maxNumContacts; }
 
      void setGlobalSearch(bool gS_=true) { gS = gS_; }
      void setInitialGlobalSearch(bool iGS_=true) { iGS = iGS_; }
 
      virtual void setInitialGuess(const fmatvec::MatV &zeta0_) { }
 
      void setTolerance(double tol_) { tol = tol_; }
 
      void setMaximumNumberOfContacts(int maxNumContacts_) { maxNumContacts = maxNumContacts_; }
 
      static std::vector<double> searchPossibleContactPoints(Function<double(double)> *func, double eta, const std::vector<double> &nodes, double tol);
 
      static std::vector<double> searchPossibleContactPoints(Function<fmatvec::Vec(fmatvec::Vec)> *func, int i, fmatvec::Vec &zeta, const std::vector<double> &nodes, double tol);
 
    protected:
      double tol{1e-10};
 
      int maxNumContacts{1};
 
      fmatvec::Vec curis, nextis;
      int isInd { 0 };
      int isSize { 0 };
 
      std::vector<Contour*> contour;
 
      bool gS{false};
      bool iGS{false};
  };
 
}
 
#endif /* _CONTACT_KINEMATICS_H_ */