contour_link.h

/* Copyright (C) 2004-2016 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 _CONTOUR_LINK_H_
#define _CONTOUR_LINK_H_
 
#include "mbsim/links/mechanical_link.h"
 
namespace MBSim {
 
  class Contour;
  class ContourFrame;
 
  class ContourLink : public MechanicalLink {
    public:
      ContourLink(const std::string &name);
 
      ~ContourLink() override;
 
      /* INHERITED INTERFACE OF EXTRADYNAMICINTERFACE */
      void init(InitStage stage, const InitConfigSet &config) override;
      /***************************************************/
 
      /* INHERITED INTERFACE OF ELEMENT */
      /***************************************************/
 
      /* INHERITED INTERFACE OF LINK */
      void updateWRef(fmatvec::Mat& ref, int i=0) override;
      void updateVRef(fmatvec::Mat& ref, int i=0) override;
      void updatehRef(fmatvec::Vec &hRef, int i=0) override;
      virtual void updatedhdqRef(fmatvec::Mat& ref, int i=0);
      virtual void updatedhduRef(fmatvec::SqrMat& ref, int i=0);
      virtual void updatedhdtRef(fmatvec::Vec& ref, int i=0);
      void updaterRef(fmatvec::Vec &ref, int i=0) override;
      /***************************************************/
 
      void connect(Contour *contour0, Contour* contour1);
 
      Contour* getContour(int i) { return contour[i]; }
      ContourFrame* getContourFrame(int i) { return cFrame[i]; }
 
      void resetUpToDate() override;
 
      //void updatePositions() override { }
      //void updateVelocities() override { }
      void updateForce() override;
      void updateMoment() override;
      void updateForceDirections() override;
      //const fmatvec::Vec3& evalGlobalRelativePosition() { if(updPos) updatePositions(); return WrP0P1; }
      //const fmatvec::Vec3& evalGlobalRelativeVelocity() { if(updVel) updateVelocities(); return WvP0P1; }
      //const fmatvec::Vec3& evalGlobalRelativeAngularVelocity() { if(updVel) updateVelocities(); return WomK0K1; }
      const fmatvec::Mat3xV& evalGlobalForceDirection() { if(updDF) updateForceDirections(); return DF; }
      const fmatvec::Mat3xV& evalGlobalMomentDirection() { if(updDF) updateForceDirections(); return DM; }
 
 
      void initializeUsingXML(xercesc::DOMElement *element) override;
 
    protected:
      fmatvec::Vec3 WrP0P1, WvP0P1, WomK0K1;
 
      fmatvec::Mat3xV DF, DM;
 
      std::vector<Contour*> contour;
 
      std::vector<ContourFrame*> cFrame;
 
      bool /*updPos, updVel,*/ updDF;
 
    private:
      std::string saved_ref1, saved_ref2;
  };
 
}
 
#endif