Program Listing for File SubhingeBase.h

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#pragmaonce

#include"Karana/SOADyn/CoordBase.h"

namespaceKarana::Dynamics{

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

classHingeBase;
classCoordData;

classSubhingeBase:publicCoordBase{

/*foraccessto_parent_hingemember*/
friendclassHingeOnode;
friendclassPhysicalHinge;

//ForaccesstoisOriented.
friendclassCompoundSubhinge;

public:
enumclassSubhingeType{
LOCKED,
PIN,
LINEAR,
LINEAR3,
SPHERICAL,
SPHERICAL_QUAT,
SCREW,
COMPOUND
};

virtual~SubhingeBase();

std::string_viewtypeString()constnoexcept=0;

virtualSubhingeBase::SubhingeTypesubhingeType()const=0;

staticstd::stringsubhingeTypeString(SubhingeBase::SubhingeTypeshtype);

virtualvoidsetPrescribed(boolflag){_prescribed=flag;}

boolgetPrescribed()const{return_prescribed;}

constkc::ks_ptr<HingeBase>&parentHinge()const{return_parent_hinge;}

virtualkm::Matjacobian(constkf::Frame&target,booloriented)const=0;

protected:
SubhingeBase(std::string_viewnm,kc::id_tid,kc::ks_ptr<HingeBase>hge);

protected:
kc::ks_ptr<HingeBase>_parent_hinge=nullptr;

bool_prescribed=false;
};

}//namespaceKarana::Dynamics