directional_spring_damper.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 _DIRECTIONAL_SPRING_DAMPER_H_
#define _DIRECTIONAL_SPRING_DAMPER_H_
 
#include "mbsim/links/floating_frame_link.h"
#include "mbsim/functions/function.h"
 
#include "mbsim/utils/boost_parameters.h"
#include "mbsim/utils/openmbv_utils.h"
 
namespace MBSim {
 
  class DirectionalSpringDamper : public FloatingFrameLink {
    protected:
      double dist;
      Function<double(double,double)> *func;
      double l0{0};
      std::shared_ptr<OpenMBVCoilSpring> ombvCoilSpring;
      std::shared_ptr<OpenMBV::CoilSpring> coilspringOpenMBV;
#ifndef SWIG
      double (DirectionalSpringDamper::*evalOMBVColorRepresentation[5])();
#endif
      double evalNone() { return 0; }
      double evalDeflection() { return evalGeneralizedRelativePosition()(0)-l0; }
      double evalTensileForce() { return -evalGeneralizedForce()(0); }
      double evalCompressiveForce() { return evalGeneralizedForce()(0); }
      double evalAbsoluteForce() { return fabs(evalGeneralizedForce()(0)); }
    public:
      DirectionalSpringDamper(const std::string &name="");
      ~DirectionalSpringDamper() override;
 
      void updatePositions(Frame *frame) override;
      void updateGeneralizedPositions() override;
      void updateGeneralizedVelocities() override;
      void updatelaF() override;
 
      /*INHERITED INTERFACE OF LINK*/
      bool isActive() const override { return true; }
      bool gActiveChanged() override { return false; }
      bool isSingleValued() const override { return true; }
      void init(InitStage stage, const InitConfigSet &config) override;
      /*****************************/
 
      void setForceFunction(Function<double(double,double)> *func_) {
        func=func_;
        func->setParent(this);
        func->setName("Force");
      }
 
      void setUnloadedLength(double l0_) { l0 = l0_; }
 
      void setForceDirection(const fmatvec::Vec3 &dir) { forceDir <<= dir; }
 
      void plot() override;
      void initializeUsingXML(xercesc::DOMElement *element) override;
 
      BOOST_PARAMETER_MEMBER_FUNCTION( (void), enableOpenMBV, tag, (optional (numberOfCoils,(int),3)(springRadius,(double),1)(crossSectionRadius,(double),-1)(nominalLength,(double),-1)(type,(OpenMBVCoilSpring::Type),OpenMBVCoilSpring::tube)(colorRepresentation,(OpenMBVCoilSpring::ColorRepresentation),OpenMBVCoilSpring::none)(minimalColorValue,(double),0)(maximalColorValue,(double),1)(diffuseColor,(const fmatvec::Vec3&),fmatvec::Vec3(std::vector<double>{-1,1,1}))(transparency,(double),0)(pointSize,(double),0)(lineWidth,(double),0))) {
        ombvCoilSpring = std::shared_ptr<OpenMBVCoilSpring>(new OpenMBVCoilSpring(springRadius,crossSectionRadius,1,numberOfCoils,nominalLength,type,colorRepresentation,minimalColorValue,maximalColorValue,diffuseColor,transparency,pointSize,lineWidth));
      }
  };
 
}
 
#endif