openmbv_utils.h

/* Copyright (C) 2004-2016 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 _MBSIMFLEX_OPENMBV_UTILS_H_
#define _MBSIMFLEX_OPENMBV_UTILS_H_
 
#include <mbsim/utils/openmbv_utils.h>
#include <openmbvcppinterface/dynamicpointset.h>
#include <openmbvcppinterface/dynamicindexedlineset.h>
#include <openmbvcppinterface/dynamicindexedfaceset.h>
#include <openmbvcppinterface/dynamicnurbscurve.h>
#include <openmbvcppinterface/dynamicnurbssurface.h>
 
namespace MBSimFlexibleBody {
 
  class OpenMBVFlexibleBody : public MBSim::OpenMBVDynamicColoredBody {
    public:
      enum ColorRepresentation {
        none=0,
        xDisplacement,
        yDisplacement,
        zDisplacement,
        totalDisplacement,
        xxStress,
        yyStress,
        zzStress,
        xyStress,
        yzStress,
        zxStress,
        equivalentStress
      };
    public:
      OpenMBVFlexibleBody(unsigned int cR=0, double minCol=0, double maxCol=1, const fmatvec::Vec3 &dc="[-1;1;1]", double tp=0, double ps=0, double lw=0);
  };
 
  class OpenMBVExternalFlexibleFfrBody : public OpenMBVFlexibleBody {
    public:
      enum Visualization {
        points=0,
        lines,
        faces
      };
      OpenMBVExternalFlexibleFfrBody(Visualization visu_=points, unsigned int cR=0, double minCol=0, double maxCol=1, const fmatvec::Vec3 &dc="[-1;1;1]", double tp=0, double ps=0, double lw=0) : OpenMBVFlexibleBody(cR,minCol,maxCol,dc,tp,ps,lw), visu(visu_) { }
      void initializeUsingXML(xercesc::DOMElement *element);
      std::shared_ptr<OpenMBV::FlexibleBody> createOpenMBV();
      Visualization getVisualization() const { return visu; }
    private:
      Visualization visu;
  };
 
  class OpenMBVDynamicNurbsCurve : public MBSim::OpenMBVColoredBody {
    public:
      OpenMBVDynamicNurbsCurve(const fmatvec::Vec3 &dc="[-1;1;1]", double tp=0, double ps=0, double lw=0) : MBSim::OpenMBVColoredBody(dc,tp,ps,lw) { }
      std::shared_ptr<OpenMBV::DynamicNurbsCurve> createOpenMBV();
  };
 
  class OpenMBVDynamicNurbsSurface : public MBSim::OpenMBVColoredBody {
    public:
      OpenMBVDynamicNurbsSurface(const fmatvec::Vec3 &dc="[-1;1;1]", double tp=0, double ps=0, double lw=0) : MBSim::OpenMBVColoredBody(dc,tp,ps,lw) { }
      std::shared_ptr<OpenMBV::DynamicNurbsSurface> createOpenMBV();
  };
 
}
 
#endif