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suDecompHardUTWalk.h

// suDecompHardUTWalk.h
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// AUTHOR: Frank C. Anderson
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#ifndef __suDecompHardUTWalk_h__
#define __suDecompHardUTWalk_h__


//=============================================================================
// INCLUDES
//=============================================================================
#include <rdTools.h>
#include <rdUTWalking8.h>
#include <rdBodyConstraint.h>
#include "suAnalyses.h"
#include "suDecomp.h"


//=============================================================================
//=============================================================================
class SUANALYSES_API suDecompHardUTWalk : public suDecomp
{
//=============================================================================
// DATA
//=============================================================================
public:

protected:
   int _c;
   int _nxs;
   int *_xsSprMap;
   int *_xsXYZMap;
   rdBodyConstraint _bc[4];
   double _wXS;
   double _wAcc;
private:
   double _point[3];
   double *_yCopy;
   double *_yTmp;
   double *_x;

//=============================================================================
// METHODS
//=============================================================================
public:
   suDecompHardUTWalk(rdUTWalking8 *aModel);
   virtual ~suDecompHardUTWalk();
private:
   void setNull();

   //--------------------------------------------------------------------------
   // GET AND SET
   //--------------------------------------------------------------------------
   double* getContactPoint(int aIndex);

   //--------------------------------------------------------------------------
   // DECOMPOSITION
   //--------------------------------------------------------------------------
public:
   virtual void
      compute(double *aXPrev,double *aYPrev,int aStep,
      double aDT,double aT,double *aX,double *aY);
   int suComputePerformance(double *x,double *p);
   int suComputePerformanceGradient(double *x,double *dpdx);
   int suComputeConstraint(double *x,int ic,double *c);
   int suComputeContactPointAccelerations(double *x,int c,double cpa[][3]);
protected:
   int getNumberConstraints();
   void clearBodyConstraints();
   void clearBodyConstraintValues();
   void setBodyConstraintValues(int aN,int aID[],double aAcc[][3]);
   void decompose(int step,double dt,double t,double *xt,double *y,void *cd);
   void determineControls(double sfrc[][3]);
   void determineConstraints();
   void setSpringForces(double *aXS,double aFS[][3]);
   void applyComponentForce(int aC);

//=============================================================================
}; // END of class suDecompHardUTWalk
//=============================================================================
//=============================================================================


#endif // #ifndef __suDecompHardUTWalk_h__

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