Program Listing for File LoopConstraintCutJoint.h

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#pragmaonce

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

namespaceKarana::Dynamics{

classMultibody;
classHingePnode;
classConstraintNode;
classFramePairHinge;
classPhysicalBody;

classLoopConstraintCutJoint:publicLoopConstraintBase{

//foraccessto_sourceParentPnode
friendclassSubGraph;

//foraccessto_error_f2f
friendclassMultibody;

//foraccesstoresidualmethodsfortheTAalgorithm
friendclassAlgorithms;

//Foraccessto_cleanup_source.
friendclassPhysicalBody;

public:
staticconstkc::ks_ptr<LoopConstraintCutJoint>
create(std::string_viewname,
kc::ks_ptr<Multibody>&mb,
kc::ks_ptr<kf::FrameToFrame>constraint_f_to_f,
HingeBase::HingeTypehtype,
conststd::vector<SubhingeBase::SubhingeType>&subhinge_types=
std::vector<SubhingeBase::SubhingeType>());

LoopConstraintCutJoint(std::string_viewname,
kc::ks_ptr<Multibody>&mb,
kc::ks_ptr<kf::FrameToFrame>constraint_f_to_f,
HingeBase::HingeTypehtype,
conststd::vector<SubhingeBase::SubhingeType>&subhinge_types=
std::vector<SubhingeBase::SubhingeType>());

boolhasHinge()constoverride{returntrue;}

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

kc::ks_ptr<kf::FrameToFrame>errorFrameToFrame()const{return_error_f2f;}

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

km::VecposeError()constoverride;

km::SpatialVectorgetInterBodyForceTAFwdDyn();

statickc::ks_ptr<PhysicalHinge>toPhysicalHinge(kc::ks_ptr<LoopConstraintCutJoint>lc,
boolreverse);

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

km::VecvelError()constoverride;

km::VecaccelError()constoverride;

protected:
km::Vec_accelResidual()constoverride;

void_updateInvDynT();

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

void_computeQMats(QMats&val)override;

km::SpatialVector_constraintSpForceTToTarget(constkm::Vec&T)const;

km::SpatialVector_constraintSpForceTToSource(constkm::SpatialVector&tgt_f)const;

km::Vec_poseResidual()constoverride;
km::Vec_velResidual()constoverride;

protected:
kc::ks_ptr<kf::FrameToFrame>_error_f2f;

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

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

bool_cleanup_source=false;
};

}//namespaceKarana::Dynamics