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rdContactForceSet.h

// rdContactForceSet.h
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Copyright 2002, 2003 Realistic Dynamics, Inc.
// All rights reserved.
//
// Please do not read, copy, distribute, or use without permission.
// Contact: Frank C. Anderson, fca@RealisticDynamics.com
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#ifndef __rdContactForceSet_h__
#define __rdContactForceSet_h__

#include <rdPtrArray.h>
#include "rdModel.h"
#include "rdContactForce.h"


//============================================================================
// CONSTANTS
//============================================================================


//=============================================================================
//=============================================================================
class RDSIMULATION_API rdContactForceSet : public rdPtrArray 
{

//=============================================================================
// DATA
//=============================================================================
private:
   static rdPtrArray _ContactForceTypes;
protected:
   rdPtrArray _defaultContactForces;
   rdModel *_model;
   int _nyp;
   int *_pseudoIndex;

//=============================================================================
// METHODS
//=============================================================================
   //--------------------------------------------------------------------------
   // CONSTRUCTION
   //--------------------------------------------------------------------------
public:
   rdContactForceSet();
   rdContactForceSet(const char *aFileName);
   virtual ~rdContactForceSet();
private:
   void setNull();
   void constructPseudoStatesIndex();
   void constructDefaultContacts();

   //--------------------------------------------------------------------------
   // GET AND SET
   //--------------------------------------------------------------------------
public:
   // MODEL
   void setModel(rdModel *aModel);
   rdModel* getModel();
   // CONTACT
   rdContactForce* setContactForce(rdContactForce *aContact);
   rdContactForce* setContactForce(int aIndex,rdContactForce *aContact);
   rdContactForce* getContactForce(int aIndex) const;
   // PSEUDOSTATES
   int getNYP();
   int getPseudoStatesIndex(int aWhichActuator);
   void setPseudoStates(const double aY[]);
   void getPseudoStates(double rY[]);

   //--------------------------------------------------------------------------
   // COMPUTATIONS
   //--------------------------------------------------------------------------
   void computeContact();
   void updatePseudoStates();

   //--------------------------------------------------------------------------
   // APPLICATION
   //--------------------------------------------------------------------------
   void apply();

   //--------------------------------------------------------------------------
   // CHECK
   //--------------------------------------------------------------------------
   bool check() const;
   
   //--------------------------------------------------------------------------
   // REGISTER SUPPORTED ACTUATOR TYPES
   //--------------------------------------------------------------------------
   static void RegisterType(const rdContactForce &aContact);

   //--------------------------------------------------------------------------
   // XML
   //--------------------------------------------------------------------------
   void updateObject(bool aDeep=true);
   void updateNode(bool aDeep=true);
   void generateNode(IDOM_Element *aParent);

//=============================================================================
}; // END of class rdContactForceSet
//=============================================================================
//=============================================================================


#endif // __rdContactForceSet_h__

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