Program Listing for File ContactForceManager.h#
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/**
* @file
* @brief Delegating contact force model.
*/
#pragma once
#include "Karana/Collision/ContactForce.h"
#include "Karana/Frame/ChainedFrameToFrame.h"
namespace Karana::Collision {
/**
* @class ContactForceManager
* @brief A ContactForceBase that delegates based on the Frame pair
*
* See \sref{collision_dynamics_sec} for more discussion on
* contact and collision dynamics.
*/
class ContactForceManager : public ContactForceBase {
public:
/**
* @brief ContactForceManager constructor. The constructor is not meant to be called
* directly. Please use the create(...) method instead to create an instance.
*
* @param name - The name of the ContactForceManager.
*/
ContactForceManager(std::string_view name);
/**
* @brief Create an instance of ContactForceManager.
*
* @param name The name for the ContactForceManager instance.
* @return A ks_ptr to the newly created ContactForceManager.
*/
static Karana::Core::ks_ptr<ContactForceManager> create(std::string_view name);
/// ContactForceManager destructor
virtual ~ContactForceManager();
/**
* @brief Apply the contact force for the associated contact.
*
* This looks up the most specific delegate ContactForceBase
* for the given frame pair and calls its applyForce.
*
* @param contact The contact to apply the force for.
* @param st The SubTree we are computing forces for.
*/
virtual void applyForce(const FrameContact &contact,
const kc::ks_ptr<Karana::Dynamics::SubTree> &st) override;
/**
* @brief Compute the contact force for the associated contact.
*
* This looks up the most specific delegate ContactForceBase
* for the given frame pair and returns the force computed by
* the delegate. If there is no default delegate or specific
* delegate for this pair, returns zero.
*
* @param contact The contact to compute the force for.
* @param nd_1 The contact node on the first body.
* @param nd_2 The contact node on the second body.
* @returns The contact force.
*/
virtual Karana::Math::SpatialVector
computeForce(const FrameContact &contact,
const Karana::Core::ks_ptr<Karana::Dynamics::Node> &nd_1,
const Karana::Core::ks_ptr<Karana::Dynamics::Node> &nd_2) override;
/**
* @brief Reset the most recent contact node pair to nullptr
*
* This also resets the last node pair for all delegates.
*/
virtual void resetLastNodePair() override;
/**
* @brief Get the most specific matching ContactForceBase
*
* @param contact The contact to get the delegate for.
* @return The ContactForceBase (may be nullptr)
*/
const Karana::Core::ks_ptr<ContactForceBase> &
getDelegate(const FrameContact &contact) const;
/**
* @brief Get the ContactForceBase used by default
*
* @return The ContactForceBase used by default (may be nullptr)
*/
const Karana::Core::ks_ptr<ContactForceBase> &getDelegate() const;
/**
* @brief Set the ContactForceBase used by default
*
* @param force The ContactForceBase (may be nullptr)
*/
void setDelegate(const Karana::Core::ks_ptr<ContactForceBase> &force = nullptr);
/**
* @brief Get the ContactForceBase used for a Frame pair
*
* Note the ordering of frame1 and frame2 does not matter.
*
* @param frame1 A frame that must be involved
* @param frame2 Another frame that must be involved
* @param strict If false and there's no delegate for
* this pair, return the default delegate.
* @return The ContactForceBase (may be nullptr)
*/
const Karana::Core::ks_ptr<ContactForceBase> &
getDelegate(const Karana::Frame::Frame &frame1,
const Karana::Frame::Frame &frame2,
bool strict = false) const;
/**
* @brief Set the ContactForceBase used for a Frame pair
*
* Note the ordering of frame1 and frame2 does not matter.
*
* @param frame1 A frame that must be involved
* @param frame2 Another frame that must be involved
* @param force The ContactForceBase (may be nullptr)
*/
void setDelegate(const Karana::Frame::Frame &frame1,
const Karana::Frame::Frame &frame2,
const Karana::Core::ks_ptr<ContactForceBase> &force = nullptr);
/**
* @brief Clear out all registered ContactForceBase instances
*/
void clearDelegates();
private:
std::unique_ptr<class ContactForceManagerImpl> _impl;
};
} // namespace Karana::Collision