Program Listing for File PhysicalHinge.h

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#pragmaonce

#include"Karana/Frame/OrientedChainedFrame2Frame.h"
#include"Karana/SOADyn/FramePairHinge.h"
#include<unordered_map>
#include<vector>

namespaceKarana::Dynamics{

namespacekc=Karana::Core;
namespacekf=Karana::Frame;

classHingeOnode;
classHingePnode;
classPinSubhinge;
classPhysicalBody;

classPhysicalHinge:publicFramePairHinge{

/*foraccessto_oneTimeTeardownand_oneTimeSetupmethods*/
friendclassPhysicalBody;

/*foraccessto_setupATBIDataCaches*/
friendclassMultibody;

/*foraccessto_invdyn_cache*/
friendclassHingePnode;

/*foraccesstoacorPrime*/
friendclassCompoundSubhinge;

public:
staticconstkc::ks_ptr<PhysicalHinge>
create(PhysicalBody&parent,
PhysicalBody&child,
HingeBase::HINGE_TYPEhtype,
conststd::vector<SubhingeBase::SUBHINGE_TYPE>&subhinge_types=
std::vector<SubhingeBase::SUBHINGE_TYPE>());

virtual~PhysicalHinge();

PhysicalHinge(PhysicalBody&parent_body,
PhysicalBody&child_body,
conststd::string&name,
HingeBase::HINGE_TYPEhtype,
conststd::vector<SubhingeBase::SUBHINGE_TYPE>&subhinge_types=
std::vector<SubhingeBase::SUBHINGE_TYPE>());

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

public:
constkc::ks_ptr<HingePnode>&pnode()const;

constkc::ks_ptr<HingeOnode>&onode()const;

std::stringdumpString(conststd::string&prefix,
constKarana::Core::Base::dumpOptions*options)constoverride;

protected:
structInterBodyForce{
/*per
*https://stackoverflow.com/questions/41552966/getting-new-delete-type-mismatch-from-asan
*/
virtual~InterBodyForce()=default;

public:
bool_enable_interbody_force=false;

km::SpatialVector_interbody_spforce;
};

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

void_setupATBIDataCaches();
void_teardownATBIDataCaches();

void_setupInvDynDataCaches();
void_teardownInvDynDataCaches();

void_oneTimeTeardown();

/*carryoutsideeffectofthethegeneralizedforcechangingfor
thesubhinge.AnexamplesideeffectistomarktheATBIfilter
datacacheforthehingeonodeasstaleforaphysicalhinge.*/
void_TChangeAction()override;

km::SpatialVector_acorPrime()const;

private:
kc::ks_ptr<HingeOnode>_onode;
kc::ks_ptr<HingePnode>_pnode;
};

}//namespaceKarana::Dynamics