point.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 _POINT_H_
#define _POINT_H_
 
#include "mbsim/contours/rigid_contour.h"
#include "mbsim/utils/boost_parameters.h"
#include "mbsim/utils/openmbv_utils.h"
#include <openmbvcppinterface/pointset.h>
 
namespace MBSim {
 
  class Point : public MBSim::RigidContour {
    public:
      Point(const std::string& name="", Frame *R=nullptr) : RigidContour(name,R) { }
 
      /* INHERITED INTERFACE OF CONTOUR */
      fmatvec::Vec3 evalKrPS(const fmatvec::Vec2 &zeta) override { return zero3; }
      fmatvec::Vec3 evalKs(const fmatvec::Vec2 &zeta) override { return zero3; }
      fmatvec::Vec3 evalKt(const fmatvec::Vec2 &zeta) override { return zero3; }
      fmatvec::Vec3 evalKu(const fmatvec::Vec2 &zeta) override;
      fmatvec::Vec3 evalKv(const fmatvec::Vec2 &zeta) override;
      fmatvec::Vec3 evalKn(const fmatvec::Vec2 &zeta) override;
      fmatvec::Vec3 evalParDer1Ku(const fmatvec::Vec2 &zeta) override;
      fmatvec::Vec3 evalParDer2Ku(const fmatvec::Vec2 &zeta) override { return zero3; }
      fmatvec::Vec3 evalParDer1Kv(const fmatvec::Vec2 &zeta) override;
      fmatvec::Vec3 evalParDer2Kv(const fmatvec::Vec2 &zeta) override;
      fmatvec::Vec3 evalParDer1Kn(const fmatvec::Vec2 &zeta) override;
      fmatvec::Vec3 evalParDer2Kn(const fmatvec::Vec2 &zeta) override;
 
      fmatvec::Vec3 evalWs(const fmatvec::Vec2 &zeta) override { return zero3; }
      fmatvec::Vec3 evalWt(const fmatvec::Vec2 &zeta) override { return zero3; }
 
      fmatvec::Vec2 evalZeta(const fmatvec::Vec3 &WrPS) override { return fmatvec::Vec2(fmatvec::INIT,0.); }
      /**********************************/
 
      BOOST_PARAMETER_MEMBER_FUNCTION( (void), enableOpenMBV, tag, (optional (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::PointSet>();
      }
      
      void init(InitStage stage, const InitConfigSet &config) override;
      void initializeUsingXML(xercesc::DOMElement *element) override;
  };
 
}
 
#endif /* _POINT_H_ */