Program Listing for File CompoundHinge.h

↰ Return to documentation for file (include/Karana/SOADyn/CompoundHinge.h)

/*
 * Copyright (c) 2024-2026 Karana Dynamics Pty Ltd. All rights reserved.
 *
 * NOTICE TO USER:
 *
 * This source code and/or documentation (the "Licensed Materials") is
 * the confidential and proprietary information of Karana Dynamics Inc.
 * Use of these Licensed Materials is governed by the terms and conditions
 * of a separate software license agreement between Karana Dynamics and the
 * Licensee ("License Agreement"). Unless expressly permitted under that
 * agreement, any reproduction, modification, distribution, or disclosure
 * of the Licensed Materials, in whole or in part, to any third party
 * without the prior written consent of Karana Dynamics is strictly prohibited.
 *
 * THE LICENSED MATERIALS ARE PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND.
 * KARANA DYNAMICS DISCLAIMS ALL WARRANTIES, EXPRESS OR IMPLIED, INCLUDING
 * BUT NOT LIMITED TO WARRANTIES OF MERCHANTABILITY, NON-INFRINGEMENT, AND
 * FITNESS FOR A PARTICULAR PURPOSE.
 *
 * IN NO EVENT SHALL KARANA DYNAMICS BE LIABLE FOR ANY DAMAGES WHATSOEVER,
 * INCLUDING BUT NOT LIMITED TO LOSS OF PROFITS, DATA, OR USE, EVEN IF
 * ADVISED OF THE POSSIBILITY OF SUCH DAMAGES, WHETHER IN CONTRACT, TORT,
 * OR OTHERWISE ARISING OUT OF OR IN CONNECTION WITH THE LICENSED MATERIALS.
 *
 * U.S. Government End Users: The Licensed Materials are a "commercial item"
 * as defined at 48 C.F.R. 2.101, and are provided to the U.S. Government
 * only as a commercial end item under the terms of this license.
 *
 * Any use of the Licensed Materials in individual or commercial software must
 * include, in the user documentation and internal source code comments,
 * this Notice, Disclaimer, and U.S. Government Use Provision.
 */

/**
 * @file
 * @brief Contains the declarations for the CompoundHinge class.
 */

#pragma once

#include "Karana/KCore/LockingBase.h"
#include "Karana/SOADyn/HingeBase.h"

namespace Karana::Dynamics {

    namespace kc = Karana::Core;
    namespace km = Karana::Math;

    class CompoundBody;

    /**
     * @class CompoundHinge
     * @brief The hinge class for compound bodies.
     */
    class CompoundHinge : public HingeBase, public kc::LockingBase {

        /* for access to _parent_hinge member */

      public:
        /**
         * @brief CompoundHinge destructor.
         */
        virtual ~CompoundHinge(){};

        std::string_view typeString(bool brief = true) const noexcept override {
            return kc::Base::typeString(brief);
        }

        /**
         * @brief Returns the CompoundBody for the hinge
         *
         * @return the outboard CompoundBody instance
         */
        kc::ks_ptr<CompoundBody> compoundBody() const { return _body; }

        /**
         * @brief Constructor

         * @param compound_body the compound child body being attached
         */
        CompoundHinge(kc::ks_ptr<CompoundBody> compound_body);

        std::string_view name() const override { return kc::LockingBase::name(); }

        km::Mat pframeCoordMapMatrix() const override;

      protected:
        /** the outboard CompoundBody for this hinge */
        kc::ks_ptr<CompoundBody> _body = nullptr;

        /**
         * @brief Discard the provided CompoundHinge.
         * @param base - Base pointer to the CompoundHinge to discard.
         */
        void _discard(kc::ks_ptr<Base> &base) override;
    };

} // namespace Karana::Dynamics