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rdForce.h

// rdForce.h
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Copyright 2002 Realistic Dynamics, Inc.
// All rights reserved.
//
// Please do not read, copy, distribute, or use without permission.
// Contact: Frank C. Anderson, fca@RealisticDynamics.com
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include "rdModel.h"
#include "rdActuator.h"
//=============================================================================
#ifndef __rdForce_h__
#define __rdForce_h__




//=============================================================================
//=============================================================================
class RDSIMULATION_API rdForce : public rdActuator
{

//=============================================================================
// DATA
//=============================================================================
public:
   static const char PROP_BODYA[];
   static const char PROP_POINTA[];
   static const char PROP_DIRECTIONA[];
   static const char PROP_BODYB[];
   static const char PROP_POINTB[];

protected:
   int _bA;
   double _pA[3];
   double _uA[3];
   int _bB;
   double _pB[3];
   double _uB[3];

//=============================================================================
// METHODS
//=============================================================================
   //--------------------------------------------------------------------------
   // CONSTRUCTION
   //--------------------------------------------------------------------------
public:
   rdForce(int aBodyA=0,int aBodyB=0,int aNX=1,int aNY=0,int aNYP=0);
   rdForce(IDOM_Element *aElement,int aNX=1,int aNY=0,int aNYP=0);
   rdForce(const rdForce &aForce);
   virtual ~rdForce();
   virtual rdActuator* copy() const;
   virtual rdActuator* copy(IDOM_Element *aElement) const;
private:
   void setNull();

   //--------------------------------------------------------------------------
   // OPERATORS
   //--------------------------------------------------------------------------
public:
   rdForce& operator=(const rdForce &aForce);

   //--------------------------------------------------------------------------
   // GET AND SET
   //--------------------------------------------------------------------------
public:
   // CONTROLS
   virtual void setControls(const double aX[]);
   virtual void getControls(double rX[]) const;
   // BODY A
   void setBodyA(int aID);
   int getBodyA() const;
   // POINT A
   void setPointA(const double aPoint[3]);
   void getPointA(double rPoint[3]) const;
   // DIRECTION A
   void setForceDirectionA(const double aDirection[3]);
   void getForceDirectionA(double rDirection[3]) const;
   // BODY B
   void setBodyB(int aID);
   int getBodyB() const;
   // POINT B
   void setPointB(const double aPoint[3]);
   void getPointB(double rPoint[3]) const;
   // DIRECTION B
   void getForceDirectionB(double rDirection[3]) const;

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

   //--------------------------------------------------------------------------
   // COMPUTATIONS
   //--------------------------------------------------------------------------
   virtual void computeActuation();
   void computeForceDirectionForBodyB();
   void computeSpeed();

   //--------------------------------------------------------------------------
   // CHECK
   //--------------------------------------------------------------------------
   virtual bool check() const;

   //--------------------------------------------------------------------------
   // UTILITY
   //--------------------------------------------------------------------------
   void computeLineOfAction(double aLineOfAction[3]) const;

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

//=============================================================================
}; // END of class rdForce
//=============================================================================
//=============================================================================

#endif // __rdForce_h__

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