Program Listing for File LoopConstraintHinge.h

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#pragmaonce

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

namespaceKarana::Dynamics{

classMultibody;
classHingePnode;
classConstraintNode;
classFramePairHinge;

classLoopConstraintHinge:publicLoopConstraintBase{

//foraccessto_sourceParentPnode
friendclassSubGraph;

//foraccessto_error_f2f
friendclassMultibody;

//foraccesstoresidualmethodsfortheTAalgorithm
friendclassAlgorithms;

//foraccessto_velError
//friendclassConstraintKinematicsSolver;

public:
staticconstkc::ks_ptr<LoopConstraintHinge>
create(kc::ks_ptr<Multibody>&mb,
kc::ks_ptr<kf::Frame2Frame>constraint_f2f,
conststd::string&name,
HingeBase::HINGE_TYPEhtype,
conststd::vector<SubhingeBase::SUBHINGE_TYPE>&subhinge_types=
std::vector<SubhingeBase::SUBHINGE_TYPE>());

LoopConstraintHinge(kc::ks_ptr<Multibody>&mb,
kc::ks_ptr<kf::Frame2Frame>constrainet_f2f,
conststd::string&name,
HingeBase::HINGE_TYPEhtype,
conststd::vector<SubhingeBase::SUBHINGE_TYPE>&subhinge_types=
std::vector<SubhingeBase::SUBHINGE_TYPE>());

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

boolhasHinge()constoverride{returntrue;}

kc::ks_ptr<FramePairHinge>hinge()const{return_hinge;}

kc::ks_ptr<kf::Frame2Frame>errorFrame2Frame()const{return_error_f2f;}

voidspExternalForceFromT(constkm::Vec&T,boolno_accumulate=true);

km::VecposeError()constoverride;

km::SpatialVectorgetTAInterBodyForce();

statickc::ks_ptr<PhysicalHinge>toPhysicalHinge(constLoopConstraintHinge&lc,
boolreverse);

size_tnResiduals()constoverride{return6-_hinge->nU();}

km::VecvelError()constoverride;

km::VecaccelError()constoverride;

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

km::Vec_accelResidual()constoverride;

#if0
km::VecbaumgarteResidual(doublestiffness,doubledamping)const;

voidlambda2ConstraintForces(constkm::Vec&lambda)const;
#endif

voidupdateInvDynT();

public:
#if0
structQMats{

public:
km::MatQ;//<Qoframecoordmapmatrixorthogonalcomplementinsourceframe
km::MatsourceQ;//<Qatthesourceframe
km::MattargetQ;//<Qatthetargetframe

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

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

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

void_computeQMats(QMats&val)override;

km::SpatialVectorT2TargetConstraintSpForce(constkm::Vec&T)const;
km::SpatialVectorT2SourceConstraintSpForce(constkm::SpatialVector&tgt_f)const;

private:
km::Vec_velResidual()const;

protected:
//void_TChangeAction()override;

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

/*thef2fmeasuretheerrorfortheconstraint.Theconstraintis
satisfiedwhenthetransformetcvaluesforthisf2fare
zero*/
kc::ks_ptr<kf::Frame2Frame>_error_f2f;

std::optional<HingeBase::HINGE_TYPE>_hinge_type=std::nullopt;

//kc::ks_ptr<ConstraintNode>_source_node=nullptr;

//kc::ks_ptr<ConstraintNode>_target_node=nullptr;

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

km::Mat_Q;

private:
//std::weak_ptr<Multibody>_mb;

kc::ks_ptr<FramePairHinge>_hinge=nullptr;
};

}//namespaceKarana::Dynamics