rigid_body_observer.h

/* Copyright (C) 2004-2015 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 _RIGID_BODY_OBSERVER_H__
#define _RIGID_BODY_OBSERVER_H__
 
#include "mbsim/observers/observer.h"
 
#include "mbsim/utils/boost_parameters.h"
#include "mbsim/utils/openmbv_utils.h"
 
namespace MBSim {
 
  class RigidBody;
 
  class RigidBodyObserver: public Observer {
    private:
      RigidBody* body;
      Frame *frameOfReference;
      Frame *outputFrame { nullptr };
      std::shared_ptr<OpenMBVInteractionArrow> ombvForce, ombvMoment;
      std::shared_ptr<OpenMBVArrow> ombvWeight, ombvAxisOfRotation, ombvMomentum, ombvAngularMomentum, ombvDerivativeOfMomentum, ombvDerivativeOfAngularMomentum;
      std::vector<std::shared_ptr<OpenMBV::Arrow>> FArrow, MArrow;
      std::shared_ptr<OpenMBV::Arrow> FWeight, openMBVAxisOfRotation, openMBVMomentum, openMBVAngularMomentum, openMBVDerivativeOfMomentum, openMBVDerivativeOfAngularMomentum;
      std::string saved_body;
      std::string saved_frameOfReference;
      std::string saved_outputFrame;
 
//#ifndef SWIG
//      double (RigidBodyObserver::*evalOMBVForceColorRepresentation[2])();
//      double (RigidBodyObserver::*evalOMBVMomentColorRepresentation[2])();
//      double (RigidBodyObserver::*evalOMBVWeightColorRepresentation[2])();
//      double (RigidBodyObserver::*evalOMBVAxisOfRotationColorRepresentation[2])();
//      double (RigidBodyObserver::*evalOMBVMomentumColorRepresentation[2])();
//      double (RigidBodyObserver::*evalOMBVAngularMomentumColorRepresentation[2])();
//      double (RigidBodyObserver::*evalOMBVDerivativeOfMomentumColorRepresentation[2])();
//      double (RigidBodyObserver::*evalOMBVDerivativeOfAngularMomentumColorRepresentation[2])();
//#endif
//      double evalNoneGreen() { return 0.5; }
//      double evalNoneRed() { return 1; }
//      double evalAbsoluteForce();
//      double evalAbsoluteMoment();
//      double evalAbsoluteWeight();
//      double evalAbsoluteMomentum();
 
    public:
      RigidBodyObserver(const std::string &name="");
      void setRigidBody(RigidBody *body_) { body = body_; } 
      void setFrameOfReference(Frame *frameOfReference_) { frameOfReference = frameOfReference_; }
      void setOutputFrame(Frame *outputFrame_) { outputFrame = outputFrame_; }
 
      void init(InitStage stage, const InitConfigSet &config);
      void initializeUsingXML(xercesc::DOMElement *element);
      void plot();
 
      BOOST_PARAMETER_MEMBER_FUNCTION( (void), enableOpenMBVWeight, tag, (optional (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))) {
        ombvWeight = std::shared_ptr<OpenMBVArrow>(new OpenMBVArrow(scaleLength,scaleSize,OpenMBVArrow::toHead,referencePoint,colorRepresentation,minimalColorValue,maximalColorValue,diffuseColor,transparency,pointSize,lineWidth));
      }
 
      BOOST_PARAMETER_MEMBER_FUNCTION( (void), enableOpenMBVJointForce, 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), enableOpenMBVJointMoment, 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))) {
        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), enableOpenMBVAxisOfRotation, tag, (optional (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))) {
        ombvAxisOfRotation = std::shared_ptr<OpenMBVArrow>(new OpenMBVArrow(scaleLength,scaleSize,OpenMBVArrow::toHead,referencePoint,colorRepresentation,minimalColorValue,maximalColorValue,diffuseColor,transparency,pointSize,lineWidth));
      }
 
      BOOST_PARAMETER_MEMBER_FUNCTION( (void), enableOpenMBVMomentum, tag, (optional (scaleLength,(double),1)(scaleSize,(double),1)(referencePoint,(OpenMBVArrow::ReferencePoint),OpenMBVArrow::fromPoint)(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))) {
        ombvMomentum = std::shared_ptr<OpenMBVArrow>(new OpenMBVArrow(scaleLength,scaleSize,OpenMBVArrow::toHead,referencePoint,colorRepresentation,minimalColorValue,maximalColorValue,diffuseColor,transparency,pointSize,lineWidth));
      }
 
      BOOST_PARAMETER_MEMBER_FUNCTION( (void), enableOpenMBVAngularMomentum, tag, (optional (scaleLength,(double),1)(scaleSize,(double),1)(referencePoint,(OpenMBVArrow::ReferencePoint),OpenMBVArrow::fromPoint)(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))) {
        ombvAngularMomentum = std::shared_ptr<OpenMBVArrow>(new OpenMBVArrow(scaleLength,scaleSize,OpenMBVArrow::toDoubleHead,referencePoint,colorRepresentation,minimalColorValue,maximalColorValue,diffuseColor,transparency,pointSize,lineWidth));
      }
 
      BOOST_PARAMETER_MEMBER_FUNCTION( (void), enableOpenMBVDerivativeOfMomentum, tag, (optional (scaleLength,(double),1)(scaleSize,(double),1)(referencePoint,(OpenMBVArrow::ReferencePoint),OpenMBVArrow::fromPoint)(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))) {
        ombvDerivativeOfMomentum = std::shared_ptr<OpenMBVArrow>(new OpenMBVArrow(scaleLength,scaleSize,OpenMBVArrow::toHead,referencePoint,colorRepresentation,minimalColorValue,maximalColorValue,diffuseColor,transparency,pointSize,lineWidth));
      }
 
      BOOST_PARAMETER_MEMBER_FUNCTION( (void), enableOpenMBVDerivativeOfAngularMomentum, tag, (optional (scaleLength,(double),1)(scaleSize,(double),1)(referencePoint,(OpenMBVArrow::ReferencePoint),OpenMBVArrow::fromPoint)(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))) {
        ombvDerivativeOfAngularMomentum = std::shared_ptr<OpenMBVArrow>(new OpenMBVArrow(scaleLength,scaleSize,OpenMBVArrow::toDoubleHead,referencePoint,colorRepresentation,minimalColorValue,maximalColorValue,diffuseColor,transparency,pointSize,lineWidth));
      }
  };
 
}  
 
#endif