Program Listing for File BodyBase.h

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#pragmaonce

#include"Karana/SOADyn/CoordBase.h"

namespaceKarana::Dynamics{

namespacekc=Karana::Core;
namespacekm=Karana::Math;

classSubTree;
classHingeOnode;
classMultibody;
classHingeBase;
classPhysicalBody;
classCompoundBody;

//classBodyBase:publicCoordBase_T<>{
classBodyBase:publicCoordBase{

/*foraccesstodatacachesetupmethods*/
friendclassSubTree;

public:
constkc::ks_ptr<Multibody>&multibody()const;

boolisCompoundBody()const{return_is_compound_body;}

virtual~BodyBase();

virtualconstkc::ks_ptr<PhysicalBody>&physicalParentBody()const=0;

virtualkc::ks_ptr<HingeBase>parentHinge()const=0;

virtualboolisRootBody()const{returnfalse;}

protected:
kc::ks_ptr<SubTree>_parentSubtree()const{return_parent_subtree;}

BodyBase(std::string_viewnm,kc::id_tid,kc::ks_ptr<SubTree>parent_subtree);

protected:
virtualvoid_setupChildBodyCacheDependencies(constBodyBase&child_body)=0;

virtualvoid_setupChildPhysicalBodyCacheDependencies(constPhysicalBody&child_body,
boolskip_scatter)=0;

virtualvoid_setupChildCompoundBodyCacheDependencies(constCompoundBody&child_body)=0;

virtualvoid_setupBaseBodyCacheDependencies()=0;

virtualvoid_teardownChildBodyCacheDependencies(constBodyBase&child_body)=0;

virtualvoid_teardownChildPhysicalBodyCacheDependencies(constPhysicalBody&child_body,
boolskip_scatter)=0;

virtualvoid
_teardownChildCompoundBodyCacheDependencies(constCompoundBody&child_body)=0;

virtualvoid_teardownBaseBodyCacheDependencies()=0;

km::MatgetATBIMatPsi()constoverride{returnkm::Mat();};
km::MatgetATBID()constoverride;
km::MatgetATBIDinv()constoverride;
km::MatgetATBIG()constoverride{returnkm::Mat();};
km::MatgetATBITauper()constoverride{returnkm::Mat();};
km::MatgetUpsilonMatrix()override{returnkm::Mat();};

km::Mat_oframe2pframePsi()constoverride{returnkm::Mat();};
km::Mat_oframe2pframePhi()constoverride{returnkm::Mat();};

km::Mat_pframe2otherPhi(constkf::Frame&/*other*/)constoverride{returnkm::Mat();};

protected:
km::Matjacobian(constkf::Frame&,bool)constoverride{
throwstd::runtime_error(
"jacobianshouldnotbecalledonBodyBase,onlyonderivedclasses.");
}

km::MatjacobianDot(constkf::Frame&,bool)constoverride{
throwstd::runtime_error(
"jacobianDotshouldnotbecalledonBodyBase,onlyonderivedclasses.");
}

virtualvoid_computeCoordMapMatrix(km::Mat){};

protected:
kc::ks_ptr<SubTree>_parent_subtree=nullptr;

bool_is_compound_body=false;

kc::RegistryList<HingeOnode>_algorithmic_gather_child_onodes;
};

}//namespaceKarana::Dynamics