polynomial_frustum.h

/* Copyright (C) 2004-2012 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 POLYNOMIAL_FRUSTUM_H_
#define POLYNOMIAL_FRUSTUM_H_
#include <iostream>
#include <mbsim/contours/contour.h>
#include <mbsim/contours/plate.h>
#include <mbsim/utils/colors.h>
#include <fmatvec/fmatvec.h>
#include <mbsim/functions/function.h>
#include <mbsim/utils/boost_parameters.h>
 
namespace MBSim {
 
  class PolynomialFrustum : public MBSim::RigidContour {
    public:
      PolynomialFrustum(const std::string & name, const fmatvec::Vec & param_);
 
      ~PolynomialFrustum() override = default;
 
      /* INHERITED INTERFACE OF ELEMENT */
      void init(InitStage stage, const InitConfigSet &config) override;
      /***************************************************/
 
      /* INHERITED INTERFACE OF CONTOUR*/
      fmatvec::Vec2 evalZeta(const fmatvec::Vec3 &WrPoint) override;
      /*********************************/
 
      void setHeight(const double & height_) { height = height_; }
 
      double getHeight() { return height; }
 
      double getHeight() const { return height; }
 
      BOOST_PARAMETER_MEMBER_FUNCTION( (void), enableOpenMBV, tag, (optional (polynomialPoints,(int),0)(circularPoints,(int),25)(diffuseColor,(const fmatvec::Vec3&),fmatvec::Vec3(std::vector<double>{-1,1,1}))(transparency,(double),0)(pointSize,(double),0)(lineWidth,(double),0))) { enableOpenMBV_(diffuseColor,transparency,polynomialPoints,circularPoints); }
 
      void setColor(const MBSim::RGBColor & color_);
 
      void setTransparency(const double & transparency_);
 
      double evalValue(const double & x);
 
      double evalValue(const double & x) const;
 
      double evalValueD1(const double & x);
 
      double evalValueD1(const double & x) const;
 
      double evalValueD2(const double & x);
 
      double evalValueD2(const double & x) const;
 
      double getXPolyMax();
 
      double getEnclosingSphereRadius();
 
      fmatvec::Vec3 getEnclosingSphereCenter();
 
      const fmatvec::Vec & getPolynomialParameters();
 
      fmatvec::Vec3 evalKrPS(const fmatvec::Vec2 &zeta) override;
 
      fmatvec::Vec3 evalKn(const fmatvec::Vec2 &zeta) override;
 
      fmatvec::Vec3 evalKu(const fmatvec::Vec2 &zeta) override;
 
      fmatvec::Vec3 evalKv(const fmatvec::Vec2 &zeta) override;
 
//      /*!
//       * \brief in 2D plane, given a point outside a polynomial curve, search for the closest point on the curve to the point
//       * \param x_0: starting point of the polynomial domain
//       * \param x_end: end point of the polynomial domain
//       * \param P: the given point
//       * \return: a dimension 3 vector, vec[0] storing the dis, vec[1] and vec[2] for the 2D position of the closest point on the curve
//       */
//      fmatvec::Vec3 CP_toP_onPolycurve2D(double x_0, double x_end, fmatvec::Vec2 P);
 
      fmatvec::Vec3 evalWn(const fmatvec::Vec2 &zeta) override;
      fmatvec::Vec3 evalWu(const fmatvec::Vec2 &zeta) override;
      fmatvec::Vec3 evalWv(const fmatvec::Vec2 &zeta) override;
 
    protected:
      void updateEnclosingSphere();
 
      fmatvec::Vec parameters;
 
      double height;
 
      double sphereRadius;
 
      MBSim::RGBColor color;
 
      double transparency;
 
      int polynomialPoints;
 
      int circularPoints;
 
      void createInventorFile();
 
      void enableOpenMBV_(const fmatvec::Vec3 &dc, double tp, int polynomialPoints_, int circularPoints_);
  };
 
  class ContactPolyfun : public Function<double(double)> {
    public:
      ContactPolyfun(const double & rhs, const PolynomialFrustum * frustum);
      ~ContactPolyfun() override = default;
 
      double operator()(const double &x) override;
      void initializeUsingXML(xercesc::DOMElement *) {
      }
 
    protected:
      double rhs;
      const PolynomialFrustum * frustum;
 
  };
 
}
 
#endif /* POLYNOMIAL_FRUSTUM_H_ */