nurbs_disk_2s.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: thorsten.schindler@mytum.de
 */
 
#ifndef NURBSDISK2S_H_
#define NURBSDISK2S_H_
 
#include "mbsimFlexibleBody/contours/contour2s.h"
#include "mbsimFlexibleBody/frames/node_frame.h"
#include "mbsimFlexibleBody/utils/contact_utils.h"
 
#include "openmbvcppinterface/nurbsdisk.h"
#include "mbsim/utils/boost_parameters.h"
#include <mbsim/utils/openmbv_utils.h>
 
#include "nurbs++/nurbs.h"
#include "nurbs++/nurbsS.h"
#include "nurbs++/vector.h"
 
namespace MBSim {
  class ContourFrame;
}
 
namespace MBSimFlexibleBody {
 
  class NurbsDisk2s : public Contour2s {
    public:
      NurbsDisk2s(const std::string &name);
 
      ~NurbsDisk2s() override;  
 
      /* INHERITED INTERFACE OF ELEMENT */
      /***************************************************/
 
      void init(InitStage stage, const MBSim::InitConfigSet &config) override;
 
      MBSim::ContourFrame* createContourFrame(const std::string &name="P") override;
 
      fmatvec::Vec3 evalPosition(const fmatvec::Vec2 &zeta) override;
      fmatvec::Vec3 evalWs(const fmatvec::Vec2 &zeta) override;
      fmatvec::Vec3 evalWt(const fmatvec::Vec2 &zeta) override;
      fmatvec::Vec3 evalWu(const fmatvec::Vec2 &zeta) override { return evalWs(zeta); }
      fmatvec::Vec3 evalWv(const fmatvec::Vec2 &zeta) override { return evalWt(zeta); }
      fmatvec::Vec3 evalWn(const fmatvec::Vec2 &zeta) override;
 
      bool isZetaOutside(const fmatvec::Vec2 &zeta) override { return zeta(0) < etaNodes[0] or zeta(0) > etaNodes[etaNodes.size()-1]; }
 
      void updatePositions(MBSim::Frame *frame) override;
      void updateVelocities(MBSim::Frame *frame) override;
      void updateAccelerations(MBSim::Frame *frame) override;
      void updateJacobians(MBSim::Frame *frame, int j=0) override;
      void updateGyroscopicAccelerations(MBSim::Frame *frame) override;
 
      fmatvec::Vec3 evalPosition();
      fmatvec::SqrMat3 evalOrientation();
 
      void plot() override;
 
      MBSim::ContactKinematics * findContactPairingWith(const std::type_info &type0, const std::type_info &type1) override { return findContactPairingFlexible(type0, type1); }
 
      BOOST_PARAMETER_MEMBER_FUNCTION( (void), enableOpenMBV, MBSim::tag, (optional (diffuseColor,(const fmatvec::Vec3&),"[-1;1;1]")(transparency,(double),0))) {
        openMBVNurbsDisk = OpenMBV::ObjectFactory::create<OpenMBV::NurbsDisk>();
      }
 
//      /**
//       * \brief initialize NURBS disk
//       * \param stage of initialisation
//       */
//      void initContourFromBody(InitStage stage);
 
      fmatvec::Vec transformCW(const fmatvec::Vec& WrPoint);
 
      fmatvec::Mat computeDirectionalDerivatives(const double &radius, const double &phi, const int &deg);
 
      fmatvec::Mat computeCurvatures(const double &radius, const double &phi);
 
      void computeUVector(const int NbPts); 
 
      void computeVVector(const int NbPts);
 
      void computeSurface();
 
      void computeSurfaceVelocities();
 
      void computeSurfaceJacobians();
 
      fmatvec::Vec getControlPoints(const int u, const int v);
 
      fmatvec::Vec getUVector();
 
      fmatvec::Vec getVVector();
 
      int testInsideBounds(const fmatvec::Vec &s);
 
      double computeError(const fmatvec::Vec &Vec1, const fmatvec::Vec &Vec2);
 
    protected:
      int RefDofs;
 
      int nj, nr;
 
      int degU, degV;
 
      double Ri, Ra;
 
      std::shared_ptr<OpenMBV::NurbsDisk> openMBVNurbsDisk;
      double drawDegree;
 
      PlNurbsSurfaced *Surface; // an homogenous surface with accuracy of calculation of double (HSurface<double,3>)
 
      PlNurbsSurfaced *SurfaceVelocities;
 
      std::vector<PlNurbsSurfaced> SurfaceJacobiansOfTranslation; // size = number of generalized coordinates
 
      std::vector<PlNurbsSurfaced> SurfaceJacobiansOfRotation; // size = number of generalized coordinates
 
      PLib::Vector<double> *uvec; // nurbs++ needs this vector 
      PLib::Vector<double> *uVec; // knot-vector for azimuthal direction 
      PLib::Vector<double> *vvec; // nurbs++ needs this vector
      PLib::Vector<double> *vVec; // knot-vector for radial direction
  };
 
}
 
#endif /* NURBSDISK2S_H_ */