Program Listing for File Multibody.h

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#pragmaonce

#include"Karana/KCore/UsageTrackingMap.h"
#include"Karana/ProxyScene/ProxyScene.h"
#include"Karana/SOADyn/HingeNode.h"
#include"Karana/SOADyn/SubGraph.h"
#include"Karana/Scene/Color.h"
#include"Karana/Scene/Layer.h"

namespaceKarana::Frame{
classFrameContainer;
}

namespaceKarana::Dynamics{

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

classPhysicalBody;
classLoopConstraintHinge;
classLoopConstraintConVel;
classCoordinateConstraint;

classMultibody:publicSubGraph{

//foraccesstotrackUsagePhysicalBody()
friendclassPhysicalBody;
friendclassPhysicalModalBody;
friendclassPhysicalApparentMassBody;

//foraccesstobody2parent_map
friendclassPhysicalHinge;

//foraccessto_tree
friendclassPhysicalSubhinge;

//foraccessto_algorithmic_subtree
friendclassSubTree;

//foraccessto_existing_loop_constraints_list
friendclassLoopConstraintConVel;
friendclassLoopConstraintHinge;

//foraccesstousagetracker
friendclassCoordinateConstraint;

//foraccessto_detached_nodes_list
friendclassNode;
//foraccessto_detached_constraint_nodes_list
friendclassConstraintNode;

public:
Multibody(std::string_viewname,kc::ks_ptr<kf::FrameContainer>fc);

virtual~Multibody(){};

statickc::ks_ptr<Multibody>create(std::string_viewname,//
kc::ks_ptr<kf::FrameContainer>fc,
kc::ks_ptr<kf::Frame>mbroot_frame=nullptr,
kc::ks_ptr<kf::Frame>newtonian_frame=nullptr);

statickc::ks_ptr<Multibody>
fromUrdf(conststd::filesystem::path&filename,
constkc::ks_ptr<kf::FrameContainer>&fc,
constkc::ks_ptr<kf::Frame>&newtonian_frame=nullptr,
constkc::ks_ptr<ks::ProxyScene>&scene=nullptr);

voidtoUrdf(conststd::filesystem::path&filename);

std::string_viewtypeString()constnoexceptoverride{
staticstd::stringtype_string="Karana::Dynamics::Multibody";
returntype_string;
}

voidtoFullyAugmentedModel();

std::string
dumpString(std::string_viewprefix="",
constKarana::Core::Base::DumpOptions*options=nullptr)constoverride;

kc::ks_ptr<Node>getNodeAncestor(constkc::ks_ptr<kf::Frame>&frame)const;

constkc::ks_ptr<kf::Frame>&getNewtonianFrame()const;

constkc::ks_ptr<kf::FrameContainer>&frameContainer()const;

std::vector<kc::ks_ptr<BilateralConstraintBase>>constraints()const;

kc::ks_ptr<BilateralConstraintBase>getConstraint(std::string_viewname)const;

structStickPartsConfig{
StickPartsConfig(){};
ks::Colorbody_color=ks::Color::DARKMAGENTA;
ks::Colorjoint_color=ks::Color::ORANGERED;
ks::Colorconstraint_color=ks::Color::RED;
ks::Colorsensor_node_color=ks::Color::GREEN;
ks::Colorforce_node_color=ks::Color::BLUE;
floatbody_stick_radius=0.02f;
floatpin_hinge_length=0.1f;
floatpin_hinge_radius=0.05f;
floatsphere_hinge_radius=0.07f;
floathinge_axes_length=0.2f;
floatnode_radius=0.04f;
ks::layer_tlayers=ks::LAYER_STICK_FIGURE;
};

voidcreateStickParts(constStickPartsConfig&c=StickPartsConfig());

voidsetScene(constkc::ks_ptr<ks::ProxyScene>&scene);

kc::ks_ptr<ks::ProxyScene>&getScene();

std::vector<kc::ks_ptr<PhysicalBody>>addPhysicalBodiesChain(
conststd::function<kc::ks_ptr<PhysicalBody>(std::string_viewnm)>&create_body,
std::string_viewname,
size_tnbodies,
PhysicalBody&root,
HingeBase::HingeTypehtype,
constPhysicalBodyParams&params);

std::vector<kc::ks_ptr<PhysicalBody>>addPhysicalBodiesTree(
conststd::function<kc::ks_ptr<PhysicalBody>(std::string_viewnm)>&create_body,
std::string_viewname,
size_tbranch_length,
size_tnbranches,
size_tdepth,
PhysicalBody&root,
HingeBase::HingeTypehtype,
constPhysicalBodyParams&params);

protected:
void_trackUsageCoordinateConstraint(kc::ks_ptr<CoordinateConstraint>c);

void_trackUsagePhysicalBody(kc::ks_ptr<PhysicalBody>bd);

void_makeCurrent()override;
void_makeStale()override;

void_discardCmFrame()overridefinal;

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

private:
void_createStickPartsBody(constkc::ks_ptr<PhysicalBody>&bd,
constMultibody::StickPartsConfig&c);

void_createStickPartsHinge(constFramePairHinge&hge,
constMultibody::StickPartsConfig&c,
boolconstraint);

void_trackUsageLoopConstraintBase(kc::ks_ptr<LoopConstraintBase>lc);

conststd::vector<kc::ks_ptr<LoopConstraintBase>>&_loopConstraints()const;

std::vector<kc::ks_ptr<CoordinateConstraint>>_coordinateConstraints()const;

kc::ks_ptr<CoordinateConstraint>_getCoordinateConstraint(std::string_viewname)const;

kc::ks_ptr<LoopConstraintBase>_getLoopConstraint(std::string_viewname)const;

protected:
//-------------------------------

//-------------------------------

kc::ks_ptr<kf::FrameContainer>_fc=nullptr;

kc::ks_ptr<kf::Frame>_newtonian_frame=nullptr;

kc::RegistryList<PhysicalBody>_physical_unsorted_bodies_list;

kc::RegistryList<SubTree>_algorithmic_subtrees;

kc::RegistryList<Node>_detached_nodes_list;

kc::RegistryList<ConstraintNode>
_detached_constraint_nodes_list;

kc::RegistryList<LoopConstraintBase>_existing_loop_constraints_list;

kc::ks_ptr<ks::ProxyScene>_scene=nullptr;

kc::UsageTrackingMap<kc::id_t,CoordinateConstraint>_coordinate_constraint_usage_map;
kc::UsageTrackingMap<kc::id_t,LoopConstraintBase>_loop_constraint_base_usage_map;
};

}//namespaceKarana::Dynamics