maxwell_contact_observer.h

/* Copyright (C) 2004-2018 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@gmail.com
 */
 
#ifndef _MAXWELL_CONTACT_OBSERVER_H__
#define _MAXWELL_CONTACT_OBSERVER_H__
 
#include "mbsim/observers/single_contact_observer.h"
 
#include <mbsim/utils/boost_parameters.h>
#include <mbsim/utils/openmbv_utils.h>
 
namespace MBSim {
 
  class MaxwellContact;
 
  class MaxwellContactObserver : public Observer {
    protected:
      std::vector<std::vector<SingleContactObserver>> contactObserver;
 
      MaxwellContact* link;
      std::string saved_link;
 
      std::shared_ptr<OpenMBV::Frame> openMBVContactFrame;
 
      std::shared_ptr<OpenMBVInteractionArrow> ombvForce, ombvMoment, ombvContact;
      std::shared_ptr<OpenMBVFrictionArrow> ombvFriction;
 
    public:
      MaxwellContactObserver(const std::string &name="");
      void setMaxwellContact(MaxwellContact *link_) { link = link_; }
      void setOutputFrame(Frame *outputFrame_) { outputFrame = outputFrame_; }
 
      void init(InitStage stage, const InitConfigSet &config) override;
      void plot() override;
      void initializeUsingXML(xercesc::DOMElement *element) override;
      void setDynamicSystemSolver(DynamicSystemSolver *sys) override;
 
      std::shared_ptr<OpenMBV::Group> getObserversOpenMBVGrp() override { return getOpenMBVGrp(); }
      H5::GroupBase *getObserversPlotGroup() override { return getPlotGroup(); }
 
      BOOST_PARAMETER_MEMBER_FUNCTION( (void), enableOpenMBVForce, tag, (optional (sideOfInteraction,(OpenMBVInteractionArrow::SideOfInteraction),OpenMBVInteractionArrow::action)(scaleLength,(double),1)(scaleSize,(double),1)(referencePoint,(OpenMBVArrow::ReferencePoint),OpenMBVArrow::toPoint)(colorRepresentation,(OpenMBVArrow::ColorRepresentation),OpenMBVArrow::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))) {
        ombvForce = std::shared_ptr<OpenMBVInteractionArrow>(new OpenMBVInteractionArrow(sideOfInteraction,scaleLength,scaleSize,OpenMBVArrow::toHead,referencePoint,colorRepresentation,minimalColorValue,maximalColorValue,diffuseColor,transparency,pointSize,lineWidth));
      }
 
      BOOST_PARAMETER_MEMBER_FUNCTION( (void), enableOpenMBVMoment, tag, (optional (sideOfInteraction,(OpenMBVInteractionArrow::SideOfInteraction),OpenMBVInteractionArrow::action)(scaleLength,(double),1)(scaleSize,(double),1)(referencePoint,(OpenMBVArrow::ReferencePoint),OpenMBVArrow::toPoint)(colorRepresentation,(OpenMBVInteractionArrow::ColorRepresentation),OpenMBVArrow::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))) {
        ombvMoment = std::shared_ptr<OpenMBVInteractionArrow>(new OpenMBVInteractionArrow(sideOfInteraction,scaleLength,scaleSize,OpenMBVArrow::toDoubleHead,referencePoint,colorRepresentation,minimalColorValue,maximalColorValue,diffuseColor,transparency,pointSize,lineWidth));
      }
 
      BOOST_PARAMETER_MEMBER_FUNCTION( (void), enableOpenMBVContactPoints, tag, (optional (size,(double),1)(offset,(double),1)(path,(bool),false)(transparency,(double),0)(pointSize,(double),0)(lineWidth,(double),0))) {
        OpenMBVFrame ombv(size,offset,path,fmatvec::Vec3(std::vector<double>{-1,1,1}),transparency,pointSize,lineWidth);
        openMBVContactFrame=ombv.createOpenMBV();
      }
 
      BOOST_PARAMETER_MEMBER_FUNCTION( (void), enableOpenMBVNormalForce, tag, (optional (sideOfInteraction,(OpenMBVInteractionArrow::SideOfInteraction),OpenMBVInteractionArrow::action)(scaleLength,(double),1)(scaleSize,(double),1)(referencePoint,(OpenMBVArrow::ReferencePoint),OpenMBVArrow::toPoint)(colorRepresentation,(OpenMBVArrow::ColorRepresentation),OpenMBVArrow::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))) {
        ombvContact = std::shared_ptr<OpenMBVInteractionArrow>(new OpenMBVInteractionArrow(sideOfInteraction,scaleLength,scaleSize,OpenMBVArrow::toHead,referencePoint,colorRepresentation,minimalColorValue,maximalColorValue,diffuseColor,transparency,pointSize,lineWidth));
      }
 
      BOOST_PARAMETER_MEMBER_FUNCTION( (void), enableOpenMBVTangentialForce, tag, (optional (sideOfInteraction,(OpenMBVInteractionArrow::SideOfInteraction),OpenMBVInteractionArrow::action)(scaleLength,(double),1)(scaleSize,(double),1)(referencePoint,(OpenMBVArrow::ReferencePoint),OpenMBVArrow::toPoint)(colorRepresentation,(OpenMBVFrictionArrow::ColorRepresentation),OpenMBVFrictionArrow::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))) {
        ombvFriction = std::shared_ptr<OpenMBVFrictionArrow>(new OpenMBVFrictionArrow(sideOfInteraction,scaleLength,scaleSize,OpenMBVArrow::toHead,referencePoint,colorRepresentation,minimalColorValue,maximalColorValue,diffuseColor,transparency,pointSize,lineWidth));
      }
    private:
      Frame *outputFrame { nullptr };
      std::string saved_outputFrame;
  };
 
}  
 
#endif