| 1 |
#ifndef _ROLL_H_ |
| 2 |
#define _ROLL_H_ |
| 3 |
#include "Rattle.hpp" |
| 4 |
#include "Vector3d.hpp" |
| 5 |
//////////////////////////////////////////////////////////////////////////////// |
| 6 |
//Declaration of DCRollAFunctor |
| 7 |
//////////////////////////////////////////////////////////////////////////////// |
| 8 |
class DCRollAFunctor : public DCRattleAFunctor{ |
| 9 |
public: |
| 10 |
DCRollAFunctor(SimInfo* info) : DCRattleAFunctor(info) {} |
| 11 |
virtual int operator()(ConstraintAtom* consAtom1, ConstraintAtom* consAtom2); |
| 12 |
virtual int operator()(ConstraintAtom* consAtom,ConstraintRigidBody* consRB) {return consElemHandlerFail;} |
| 13 |
virtual int operator()(ConstraintRigidBody* consRB1, ConstraintRigidBody* consRB2); |
| 14 |
private: |
| 15 |
|
| 16 |
void calcZeta(ConstraintAtom* consAtom, const Vector3d& bondDir, Vector3d&zeta); |
| 17 |
void integrate(ConstraintAtom* consAtom, const Vector3d& force); |
| 18 |
|
| 19 |
void calcZeta(ConstraintRigidBody* consRB, const Vector3d& bondDir, Vector3d& zeta); |
| 20 |
void integrate(ConstraintRigidBody* consRB, const Vector3d& consForce); |
| 21 |
void rotationPropagation(StuntDouble* sd, double ji[3]); |
| 22 |
void rotate(int axes1, int axes2, double angle, double ji[3], double A[3][3]); |
| 23 |
}; |
| 24 |
|
| 25 |
//////////////////////////////////////////////////////////////////////////////// |
| 26 |
//Declaration of JCRollAFunctor |
| 27 |
//////////////////////////////////////////////////////////////////////////////// |
| 28 |
class JCRollAFunctor : public JCRattleAFunctor{ |
| 29 |
public: |
| 30 |
JCRollAFunctor(SimInfo* info) : JCRattleAFunctor(info) {} |
| 31 |
//virtual int operator()(ConstraintAtom* consAtom1, ConstraintAtom* consAtom2); |
| 32 |
//virtual int operator()(ConstraintAtom* consAtom,ConstraintRigidBody* consRB); |
| 33 |
//virtual int operator()(ConstraintRigidBody* consRB1, ConstraintRigidBody* consRB2); |
| 34 |
}; |
| 35 |
|
| 36 |
//////////////////////////////////////////////////////////////////////////////// |
| 37 |
//Declaration of RollA |
| 38 |
//////////////////////////////////////////////////////////////////////////////// |
| 39 |
class RollA : public ConstraintAlgorithm{ |
| 40 |
public: |
| 41 |
RollA(SimInfo* rhs) : ConstraintAlgorithm(rhs){ |
| 42 |
registerCallback(typeid(DistanceConstraintPair), new DCRollAFunctor(rhs)); |
| 43 |
registerCallback(typeid(JointConstraintPair), new JCRollAFunctor(rhs)); |
| 44 |
} |
| 45 |
}; |
| 46 |
|
| 47 |
//////////////////////////////////////////////////////////////////////////////// |
| 48 |
//Declaration of DCRollBFunctor |
| 49 |
//////////////////////////////////////////////////////////////////////////////// |
| 50 |
class DCRollBFunctor : public DCRattleBFunctor{ |
| 51 |
public: |
| 52 |
DCRollBFunctor(SimInfo* info) : DCRattleBFunctor(info) {} |
| 53 |
virtual int operator()(ConstraintAtom* consAtom1, ConstraintAtom* consAtom2){return consElemHandlerFail;} |
| 54 |
virtual int operator()(ConstraintAtom* consAtom,ConstraintRigidBody* consRB){return consElemHandlerFail;} |
| 55 |
virtual int operator()(ConstraintRigidBody* consRB1, ConstraintRigidBody* consRB2); |
| 56 |
private: |
| 57 |
//void getZeta(ConstraintAtom* consAtom, const Vector3d& bondDir, Vector3d& zeta); |
| 58 |
//void integrate(ConstraintAtom* consAtom, const Vector3d& consForce); |
| 59 |
|
| 60 |
void getZeta(ConstraintRigidBody* consRB, const Vector3d& bondDir, Vector3d& zeta); |
| 61 |
void integrate(ConstraintRigidBody* consRB, const Vector3d& consForce); |
| 62 |
}; |
| 63 |
|
| 64 |
//////////////////////////////////////////////////////////////////////////////// |
| 65 |
//Declaration of JCRollBFunctor |
| 66 |
//////////////////////////////////////////////////////////////////////////////// |
| 67 |
class JCRollBFunctor : public JCRattleBFunctor{ |
| 68 |
public: |
| 69 |
JCRollBFunctor(SimInfo* info) : JCRattleBFunctor(info) {} |
| 70 |
//virtual int operator()(ConstraintAtom* consAtom1, ConstraintAtom* consAtom2); |
| 71 |
//virtual int operator()(ConstraintAtom* consAtom,ConstraintRigidBody* consRB); |
| 72 |
//virtual int operator()(ConstraintRigidBody* consRB1, ConstraintRigidBody* consRB2); |
| 73 |
}; |
| 74 |
|
| 75 |
//////////////////////////////////////////////////////////////////////////////// |
| 76 |
//Declaration of RollB |
| 77 |
//////////////////////////////////////////////////////////////////////////////// |
| 78 |
class RollB : public ConstraintAlgorithm{ |
| 79 |
public: |
| 80 |
RollB(SimInfo* rhs) : ConstraintAlgorithm(rhs){ |
| 81 |
registerCallback(typeid(DistanceConstraintPair), new DCRollBFunctor(rhs)); |
| 82 |
registerCallback(typeid(JointConstraintPair), new JCRollBFunctor(rhs)); |
| 83 |
} |
| 84 |
}; |
| 85 |
|
| 86 |
//////////////////////////////////////////////////////////////////////////////// |
| 87 |
//Declaration of RollFramework |
| 88 |
//////////////////////////////////////////////////////////////////////////////// |
| 89 |
//class RattleAlgorithm will encapsulate preConstraint, RattleA and RattleB |
| 90 |
//actually, we could use factory pattern to seperate the creation process |
| 91 |
class RollFramework : public VelVerletConsFramework{ |
| 92 |
public: |
| 93 |
RollFramework(SimInfo* rhs) : VelVerletConsFramework(rhs){ |
| 94 |
raAlgo = new RollA(rhs); |
| 95 |
rbAlgo = new RollB(rhs); |
| 96 |
} |
| 97 |
|
| 98 |
~RollFramework(){ |
| 99 |
delete raAlgo; |
| 100 |
delete rbAlgo; |
| 101 |
} |
| 102 |
|
| 103 |
virtual int doConstrainA(){ |
| 104 |
raAlgo->doConstrain(); |
| 105 |
return raAlgo->haveError()? -1 : 1; |
| 106 |
|
| 107 |
} |
| 108 |
|
| 109 |
virtual int doConstrainB(){ |
| 110 |
rbAlgo->doConstrain(); |
| 111 |
return rbAlgo->haveError()? -1 : 1; |
| 112 |
|
| 113 |
} |
| 114 |
private: |
| 115 |
RollA* raAlgo; |
| 116 |
RollB* rbAlgo; |
| 117 |
}; |
| 118 |
#endif //end ifndef _ROLL_H_ |
