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rdSetPoint.h

// rdSetPoint.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
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#ifndef __rdSetPoint_h__
#define __rdSetPoint_h__

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


//=============================================================================
//=============================================================================
class RDACTUATORS_API rdSetPoint : public rdContactForce
{

//=============================================================================
// DATA
//=============================================================================
public:
   static const char PROP_TANGENTIAL_STIFFNESS[];
   static const char PROP_TANGENTIAL_VISCOSITY[];
   static const char PROP_FRICTION[];

protected:
   double _mu;

//=============================================================================
// METHODS
//=============================================================================
   //--------------------------------------------------------------------------
   // CONSTRUCTION
   //--------------------------------------------------------------------------
public:
   rdSetPoint(int aBodyA=0,int aBodyB=0,int aNYP=3);
   rdSetPoint(IDOM_Element *aElement,int aNYP=3);
   rdSetPoint(const rdSetPoint &aContact);
   virtual ~rdSetPoint();
private:
   void setNull();

   //--------------------------------------------------------------------------
   // OPERATORS
   //--------------------------------------------------------------------------
public:
   rdSetPoint& operator=(const rdSetPoint &aSetPoint);

   //--------------------------------------------------------------------------
   // GET AND SET
   //--------------------------------------------------------------------------
   // PSEUDOSTATES
   virtual void setPseudoStates(const double aYP[]);
   virtual void getPseudoStates(double rYP[]) const;
   // TANGENTIAL STIFFNESS
   void setTangentialStiffness(double aKTP);
   double getTangentialStiffness() const;
   // TANGENTIAL VISCOSITY
   void setTangentialViscosity(double aKTV);
   double getTangentialViscosity() const;
   // COEFFICIENT OF FRICTION
   void setFriction(double aMU);
   double getFriction() const;

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

   //--------------------------------------------------------------------------
   // APPLICATION
   //--------------------------------------------------------------------------


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

   //--------------------------------------------------------------------------
   // UTILITY
   //--------------------------------------------------------------------------
   double
      computeTangentialForce(double aNormalForce,double rTangentForce[3],
      double rDFFric[3]);
   bool
      computeNewSetPoint(double aTangentForce,double rSetPoint[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 rdSetPoint
//=============================================================================
//=============================================================================

#endif // __rdSetPoint_h__

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