line.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 _LINE_H_
#define _LINE_H_
 
#include "mbsim/contours/rigid_contour.h"
#include "mbsim/frames/frame.h"
#include "mbsim/utils/boost_parameters.h"
#include "mbsim/utils/openmbv_utils.h"
#include <openmbvcppinterface/indexedlineset.h>
 
namespace MBSim {
 
  class Line : public MBSim::RigidContour { 
    public:
      Line(const std::string& name="", Frame *R=nullptr) : RigidContour(name,R) { }
 
      /* INHERITED INTERFACE OF CONTOUR */
      fmatvec::Vec3 evalKrPS(const fmatvec::Vec2 &zeta) override;
      fmatvec::Vec3 evalKs(const fmatvec::Vec2 &zeta) override { return ey; }
      fmatvec::Vec3 evalKt(const fmatvec::Vec2 &zeta) override { return zero3; }
      fmatvec::Vec3 evalKu(const fmatvec::Vec2 &zeta) override { return evalKs(zeta); }
      fmatvec::Vec3 evalKv(const fmatvec::Vec2 &zeta) override { return evalKt(zeta); }
      fmatvec::Vec3 evalKn(const fmatvec::Vec2 &zeta) override { return ex; }
      fmatvec::Vec3 evalParDer1Ku(const fmatvec::Vec2 &zeta) override { return zero3; }
      fmatvec::Vec3 evalParDer1Kv(const fmatvec::Vec2 &zeta) override { return zero3; }
      fmatvec::Vec3 evalParDer1Kn(const fmatvec::Vec2 &zeta) override { return zero3; }
 
      fmatvec::Vec3 evalWs(const fmatvec::Vec2 &zeta) override { return R->evalOrientation().col(1); }
      fmatvec::Vec3 evalWt(const fmatvec::Vec2 &zeta) override { return zero3; }
      fmatvec::Vec3 evalWu(const fmatvec::Vec2 &zeta) override { return evalWs(zeta); }
      fmatvec::Vec3 evalWv(const fmatvec::Vec2 &zeta) override { return evalWt(zeta); }
      fmatvec::Vec3 evalWn(const fmatvec::Vec2 &zeta) override { return R->evalOrientation().col(0); }
      fmatvec::Vec3 evalParDer1Wu(const fmatvec::Vec2 &zeta) override { return zero3; }
      fmatvec::Vec3 evalParDer1Wv(const fmatvec::Vec2 &zeta) override { return zero3; }
      fmatvec::Vec3 evalParDer1Wn(const fmatvec::Vec2 &zeta) override { return zero3; }
      /***************************************************/
 
      fmatvec::Vec2 evalCurvatures(const fmatvec::Vec2 &zeta) override { return fmatvec::Vec2(); }
 
      BOOST_PARAMETER_MEMBER_FUNCTION( (void), enableOpenMBV, tag, (optional (length,(double),1)(diffuseColor,(const fmatvec::Vec3&),fmatvec::Vec3(std::vector<double>{-1,1,1}))(transparency,(double),0)(pointSize,(double),0)(lineWidth,(double),0))) {
        OpenMBVLine ombv(length,diffuseColor,transparency,pointSize,lineWidth);
        openMBVRigidBody=ombv.createOpenMBV(); 
      }
      
      void initializeUsingXML(xercesc::DOMElement *element) override;
  };      
}
 
#endif /* _LINE_H_ */