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#ifndef _ROLL_H_ |
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#define _ROLL_H_ |
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#include "Rattle.hpp" |
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#include "Vector3d.hpp" |
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//////////////////////////////////////////////////////////////////////////////// |
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//Declaration of DCRollAFunctor |
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//////////////////////////////////////////////////////////////////////////////// |
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class DCRollAFunctor : public DCRattleAFunctor{ |
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public: |
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DCRollAFunctor(SimInfo* info) : DCRattleAFunctor(info) {} |
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virtual int operator()(ConstraintAtom* consAtom1, ConstraintAtom* consAtom2); |
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//virtual int operator()(ConstraintAtom* consAtom,ConstraintRigidBody* consRB); |
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virtual int operator()(ConstraintRigidBody* consRB1, ConstraintRigidBody* consRB2); |
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private: |
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|
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void calcZeta(ConstraintAtom* consAtom, const Vector3d& bondDir, Vector3d&zeta); |
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void integrate(ConstraintAtom* consAtom, const Vector3d& force); |
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|
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void calcZeta(ConstraintRigidBody* consRB, const Vector3d& bondDir, Vector3d& zeta); |
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void integrate(ConstraintRigidBody* consRB, const Vector3d& force); |
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void rotationPropagation(StuntDouble* sd, double ji[3]); |
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void rotate(int axes1, int axes2, double angle, double ji[3], double A[3][3]); |
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}; |
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|
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//////////////////////////////////////////////////////////////////////////////// |
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//Declaration of JCRollAFunctor |
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//////////////////////////////////////////////////////////////////////////////// |
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class JCRollAFunctor : public JCRattleAFunctor{ |
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public: |
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JCRollAFunctor(SimInfo* info) : JCRattleAFunctor(info) {} |
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//virtual int operator()(ConstraintAtom* consAtom1, ConstraintAtom* consAtom2); |
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//virtual int operator()(ConstraintAtom* consAtom,ConstraintRigidBody* consRB); |
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//virtual int operator()(ConstraintRigidBody* consRB1, ConstraintRigidBody* consRB2); |
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}; |
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|
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//////////////////////////////////////////////////////////////////////////////// |
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//Declaration of RollA |
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//////////////////////////////////////////////////////////////////////////////// |
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class RollA : public ConstraintAlgorithm{ |
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public: |
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RollA(SimInfo* rhs) : ConstraintAlgorithm(rhs){ |
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registerCallback(typeid(DistanceConstraintPair), new DCRollAFunctor(rhs)); |
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registerCallback(typeid(JointConstraintPair), new JCRollAFunctor(rhs)); |
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} |
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}; |
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|
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//////////////////////////////////////////////////////////////////////////////// |
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//Declaration of DCRollBFunctor |
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//////////////////////////////////////////////////////////////////////////////// |
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class DCRollBFunctor : public DCRattleBFunctor{ |
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public: |
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DCRollBFunctor(SimInfo* info) : DCRattleBFunctor(info) {} |
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//virtual int operator()(ConstraintAtom* consAtom1, ConstraintAtom* consAtom2); |
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//virtual int operator()(ConstraintAtom* consAtom,ConstraintRigidBody* consRB); |
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virtual int operator()(ConstraintRigidBody* consRB1, ConstraintRigidBody* consRB2); |
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private: |
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void getZeta(ConstraintRigidBody* consRB, const Vector3d& bondDir, Vector3d& zeta); |
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void integrate(ConstraintRigidBody* consRB, const Vector3d& force); |
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}; |
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|
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//////////////////////////////////////////////////////////////////////////////// |
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//Declaration of JCRollBFunctor |
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//////////////////////////////////////////////////////////////////////////////// |
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class JCRollBFunctor : public JCRattleBFunctor{ |
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public: |
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JCRollBFunctor(SimInfo* info) : JCRattleBFunctor(info) {} |
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//virtual int operator()(ConstraintAtom* consAtom1, ConstraintAtom* consAtom2); |
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//virtual int operator()(ConstraintAtom* consAtom,ConstraintRigidBody* consRB); |
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//virtual int operator()(ConstraintRigidBody* consRB1, ConstraintRigidBody* consRB2); |
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}; |
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|
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//////////////////////////////////////////////////////////////////////////////// |
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//Declaration of RollB |
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//////////////////////////////////////////////////////////////////////////////// |
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class RollB : public ConstraintAlgorithm{ |
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public: |
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RollB(SimInfo* rhs) : ConstraintAlgorithm(rhs){ |
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registerCallback(typeid(DistanceConstraintPair), new DCRollBFunctor(rhs)); |
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registerCallback(typeid(JointConstraintPair), new JCRollBFunctor(rhs)); |
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} |
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}; |
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|
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//////////////////////////////////////////////////////////////////////////////// |
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//Declaration of RollFramework |
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//////////////////////////////////////////////////////////////////////////////// |
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//class RattleAlgorithm will encapsulate preConstraint, RattleA and RattleB |
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//actually, we could use factory pattern to seperate the creation process |
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class RollFramework : public VelVerletConsFramework{ |
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public: |
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RollFramework(SimInfo* rhs) : VelVerletConsFramework(rhs){ |
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raAlgo = new RollA(rhs); |
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rbAlgo = new RollB(rhs); |
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} |
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|
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~RollFramework(){ |
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delete raAlgo; |
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delete rbAlgo; |
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} |
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|
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virtual int doConstrainA(){ |
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raAlgo->doConstrain(); |
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return raAlgo->haveError()? -1 : 1; |
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|
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} |
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|
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virtual int doConstrainB(){ |
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rbAlgo->doConstrain(); |
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return rbAlgo->haveError()? -1 : 1; |
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|
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} |
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private: |
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RollA* raAlgo; |
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RollB* rbAlgo; |
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}; |
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#endif //end ifndef _ROLL_H_ |
