joint.h

/* Copyright (C) 2004-2014 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 _JOINT_H_
#define _JOINT_H_
 
#include "mbsim/links/floating_frame_link.h"
 
namespace MBSim {
 
  class GeneralizedForceLaw;
  class GeneralizedImpactLaw;
  class FrictionForceLaw;
  class FrictionImpactLaw;
  class Body;
 
  class Joint : public FloatingFrameLink {
    public:
      Joint(const std::string &name = "") : FloatingFrameLink(name), iFM(0,-1), iMM(0,-1) { }
 
      ~Joint() override;
 
      void updatelaF() override { (this->*updatelaF_)(); updlaF = false; }
      void updatelaM() override { (this->*updatelaM_)(); updlaM = false; }
      void updatelaF0() { }
      void updatelaFS();
      void updatelaFM();
      void updatelaM0() { }
      void updatelaMS();
      void updatelaMM();
      void (Joint::*updatelaF_)();
      void (Joint::*updatelaM_)();
      void updateh(int i=0) override;
      void updateW(int i=0) override;
      void updateg() override;
      void updategd() override;
      void updatewb() override;
      void updatexd() override;
 
      void calclaSize(int j) override;
      void calcgSize(int j) override;
      void calcgdSize(int j) override;
      void calcrFactorSize(int j) override;
      void calccorrSize(int j) override;
      void calcxSize() override { if(integrateGeneralizedRelativeVelocityOfRotation) xSize = momentDir.cols(); }
      void init(InitStage stage, const InitConfigSet &config) override;
 
      bool isSetValued() const override;
      bool isSingleValued() const override;
      bool isActive() const override { return true; }
      bool gActiveChanged() override { return false; }
      void solveImpactsFixpointSingle() override;
      void solveConstraintsFixpointSingle() override;
      void solveImpactsGaussSeidel() override;
      void solveConstraintsGaussSeidel() override;
      void solveImpactsRootFinding() override;
      void solveConstraintsRootFinding() override;
      void jacobianConstraints() override;
      void jacobianImpacts() override;
      void updaterFactors() override;
      void checkImpactsForTermination() override;
      void checkConstraintsForTermination() override;
 
      void setForceLaw(GeneralizedForceLaw * rc);
      void setMomentLaw(GeneralizedForceLaw * rc);
 
      void setForceDirection(const fmatvec::Mat3xV& fd) { forceDir <<= fd; }
 
      void setMomentDirection(const fmatvec::Mat3xV& md) { momentDir <<= md; }
 
      void setIntegrateGeneralizedRelativeVelocityOfRotation(bool integrateGeneralizedRelativeVelocityOfRotation_) { integrateGeneralizedRelativeVelocityOfRotation = integrateGeneralizedRelativeVelocityOfRotation_; }
 
      enum class AngleMode {
        smallAngles,
        cardan,
      };
      void setAngleMode(AngleMode angleMode_) { angleMode = angleMode_; }
 
      fmatvec::VecV evalGeneralizedRelativePositionOfRotation() override;
 
      void initializeUsingXML(xercesc::DOMElement *element) override;
 
    protected:
      GeneralizedForceLaw *ffl{nullptr};
 
      GeneralizedForceLaw * fml{nullptr};
 
      GeneralizedImpactLaw *fifl{nullptr};
 
      GeneralizedImpactLaw * fiml{nullptr};
 
      fmatvec::Vec gdn, gdd;
 
      bool integrateGeneralizedRelativeVelocityOfRotation{false};
 
      AngleMode angleMode { AngleMode::smallAngles };
 
      bool disableAngleWarning { false };
 
      fmatvec::Mat3xV RF, RM;
      fmatvec::RangeV iFM, iMM;
  };
 
  class InverseKineticsJoint : public Joint {
    friend class JointConstraint;
    public:
      InverseKineticsJoint(const std::string &name) : Joint(name) { }
      void updateb() override;
      void calcbSize() override;
      void setBody(Body* body_) { body = body_; }
      void init(InitStage stage, const InitConfigSet &config) override;
      bool isSetValued() const override { return true; }
 
    protected:
      Body* body{nullptr};
  };
 
}
 
#endif