planar_nurbs_contour.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@googlemail.com
 */
 
#ifndef _PLANAR_NURBS_CONTOUR_H_
#define _PLANAR_NURBS_CONTOUR_H_
 
#include "mbsim/contours/rigid_contour.h"
#include "mbsim/utils/boost_parameters.h"
#include "mbsim/utils/openmbv_utils.h"
#include "mbsim/numerics/nurbs/nurbs_curve.h"
#include <openmbvcppinterface/nurbscurve.h>
 
namespace MBSim {
 
  class PlanarNurbsContour : public RigidContour {
    public:
      enum Interpolation {
        equallySpaced = 0,
        chordLength,
        none,
        unknown
      };
 
      PlanarNurbsContour(const std::string &name="", Frame *R=nullptr) : RigidContour(name,R) { }
 
      ~PlanarNurbsContour() override = default;
 
      /* INHERITED INTERFACE OF ELEMENT */
      /***************************************************/
 
      /* INHERITED INTERFACE OF CONTOUR */
      void init(InitStage stage, const InitConfigSet &config) override;
      fmatvec::Vec3 evalKrPS(const fmatvec::Vec2 &zeta) override;
      fmatvec::Vec3 evalKs(const fmatvec::Vec2 &zeta) override;
      fmatvec::Vec3 evalKt(const fmatvec::Vec2 &zeta) override;
      fmatvec::Vec3 evalKn(const fmatvec::Vec2 &zeta) override;
      fmatvec::Vec3 evalParDer1Ks(const fmatvec::Vec2 &zeta) override;
      /***************************************************/
 
      /* GETTER / SETTER */
      void setInterpolation(Interpolation interpolation_) { interpolation = interpolation_; }
      void setControlPoints(const fmatvec::MatVx4 &cp_) { cp <<= cp_; }
      void setControlPoints(const fmatvec::MatVx3 &cp_);
      void setControlPoints(const std::vector<fmatvec::Vec4> &cp_);
      void setControlPoints(const std::vector<fmatvec::Vec3> &cp_);
      void setNumberOfControlPoints(int n_) { n = n_; }
      void setKnotVector(const fmatvec::VecV &knot_) { knot <<= knot_; }
      void setDegree(int degree_) { degree = degree_; }
      /***************************************************/
 
      BOOST_PARAMETER_MEMBER_FUNCTION( (void), enableOpenMBV, tag, (optional (nodes,(const std::vector<double>&),std::vector<double>())(diffuseColor,(const fmatvec::Vec3&),fmatvec::Vec3(std::vector<double>{-1,1,1}))(transparency,(double),0)(pointSize,(double),0)(lineWidth,(double),0))) {
        OpenMBVColoredBody ombv(diffuseColor,transparency,pointSize,lineWidth);
        openMBVRigidBody=ombv.createOpenMBV<OpenMBV::NurbsCurve>();
      }
      
      void initializeUsingXML(xercesc::DOMElement *element) override;
 
      bool isZetaOutside(const fmatvec::Vec2 &zeta) override { return open and (zeta(0) < etaNodes[0] or zeta(0) > etaNodes[etaNodes.size()-1]); }
 
      void setOpen(bool open_=true) { open = open_; }
 
    protected:
      void updateHessianMatrix(double eta);
      const fmatvec::MatVx4& evalHessianMatrix(double eta){ if(fabs(eta-etaOld)>1e-13) updateHessianMatrix(eta); return hess; }
 
      Interpolation interpolation{none};
      fmatvec::MatVx4 cp;
      int n{0};
      fmatvec::VecV knot;
      int degree{3};
      bool open{false};
      NurbsCurve crv;
      double etaOld{0};
      fmatvec::MatVx4 hess;
  };
 
}
 
#endif