Program Listing for File LoopConstraintBase.h

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#pragmaonce

#include"Karana/SOADyn/CoordinateConstraint.h"
#include"Karana/SOADyn/FramePairHinge.h"

namespaceKarana::Dynamics{

classMultibody;
classHingePnode;
classConstraintNode;
classPhysicalHinge;

classLoopConstraintBase:publicBilateralConstraintBase{

//foraccessto_sourceParentPnode
friendclassSubGraph;

//foraccessto_error_f2f
friendclassMultibody;

//foraccesstoresidualmethodsfortheTAalgorithm
friendclassAlgorithms;

public:
LoopConstraintBase(kc::ks_ptr<Multibody>&mb,
kc::ks_ptr<kf::Frame2Frame>constrainet_f2f,
conststd::string&name);

//size_tnResiduals()constoverride;

//km::VecposeError()constoverride;

//km::VecvelError()constoverride;

//km::VecaccelError()constoverride;

kc::ks_ptr<kf::Frame2Frame>constraintFrame2Frame()const{return_constraint_f2f;}

virtualboolhasHinge()const{returnfalse;}

virtualboolconstrainsQ()const{returntrue;}

kc::ks_ptr<ConstraintNode>sourceNode()const{return_source_node;}

kc::ks_ptr<ConstraintNode>targetNode()const{return_target_node;}

protected:
virtualkm::Vec_accelResidual()const=0;

//--------------------------------
/*public,forusebythealgorithmmethods.TODO-make
protectedwhenpossible.*/

km::VecbaumgarteResidual(doublestiffness,doubledamping)const;

voidlambda2ConstraintForces(constkm::Vec&lambda)const;

public:
structQMats{

public:
km::MatsourceQ;
km::MattargetQ;

public:
voidresize(size_tnC){
sourceQ.resize(nC,6);
targetQ.resize(nC,6);
}
};

constQMats&getQMats()const{return_QMats_cache->get();}

protected:
void_discard(kc::ks_ptr<Base>&base)override;

virtualvoid_computeQMats(QMats&val)=0;

kc::ks_ptr<kf::Frame2Frame>_constraint_f2f;

kc::ks_ptr<ConstraintNode>_source_node=nullptr;

kc::ks_ptr<ConstraintNode>_target_node=nullptr;

kc::ks_ptr<kc::DataCache<QMats>>_QMats_cache=nullptr;

//std::weak_ptr<Multibody>_mb;

private:
};

classLoopConstraintConVel:publicLoopConstraintBase{

public:
staticconstkc::ks_ptr<LoopConstraintConVel>
create(kc::ks_ptr<Multibody>&mb,
kc::ks_ptr<kf::Frame2Frame>constraint_f2f,
conststd::string&name);

LoopConstraintConVel(kc::ks_ptr<Multibody>&mb,
kc::ks_ptr<kf::Frame2Frame>constrainet_f2f,
conststd::string&name);

conststd::string&typeString()constnoexceptoverride{
staticstd::stringtype_string="Karana::Dynamics::LoopConstraintConVel";
returntype_string;
}

boolconstrainsQ()constoverride{returnfalse;}

//km::Vec6poseError()constoverride;

size_tnResiduals()constoverride;
km::VecposeError()constoverride;

voidsetInput(doublevel,doubleaccel);

voidsetUnitAxis(constkm::Vec&axis,boolis_rotational);

constkm::Vec3&getUnitAxis()const;

boolisRotational()const;

boolisFinalized()constoverride;

km::VecvelError()constoverride;
km::VecaccelError()constoverride;

protected:
void_computeQMats(QMats&val)override;

km::Vec_accelResidual()constoverride;

private:
km::Vec_velResidual()const;

km::Vec3_unit_axis;
bool_is_rotational=true;

double_input_vel=0;
double_input_accel=0;
};

}//namespaceKarana::Dynamics