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suPointMassIATaylor.h

// suPointMassIATaylor.h
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// AUTHOR: Frank C. Anderson
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#ifndef __suPointMassIATaylor_h__
#define __suPointMassIATaylor_h__


//=============================================================================
// INCLUDES
//=============================================================================
#include <rdSimUtility.h>
#include <rdSimModelDLL.h>
#include <rdSimModel.h>
#include <rdPointMass.h>
#include "suPointMassIATaylorDLL.h"


//=============================================================================
//=============================================================================
class RDPOINTMASS_API suPointMassIATaylor : public rdPointMass 
{
//=============================================================================
// DATA
//=============================================================================
public:
   static const int NE;

protected:
   bool _contactEstablished;
   double _tolContact;
   rdSimStorage *_decompStore;
   rdSimStorage *_frcStore;
   rdSimStorage *_velStore;
   rdSimStorage *_accStore;

//=============================================================================
// METHODS
//=============================================================================
public:
   suPointMassIATaylor();
   virtual ~suPointMassIATaylor();
private:
   void deleteStorage();

public:
   //--------------------------------------------------------------------------
   // GET AND SET
   //--------------------------------------------------------------------------
   // DECOMPOSITION
   void setPerformDecomposition(bool aTrueFalse,int aCapcity=100);
   rdSimStorage* getForceStorage();
   // STIFFNESSES
   void getStiffness(double aVel[3],double aPos[3],
         double aDFDP[3],double aDFDV[3]);

   //--------------------------------------------------------------------------
   // STEP
   //--------------------------------------------------------------------------
   void step(double aDT,double aDFDP,double aDFDV,double aAcc,
         double aV,double *aDV,double *aDF);
   void decompStep(double aDT,double aDFDP,double aDFDV,double aAcc,
         double *aV,double *aF);
   void step(double aDT,double aDFDP,double aDFDV,double aAcc,
         double *aV,double *aF,double *aDV,double *aDF);

   //--------------------------------------------------------------------------
   // CALLBACKS
   //--------------------------------------------------------------------------
   void
      integBeginCallback(int i,double dt,double t,double *x,double *y,
       void *cd=NULL);
   void
      integStepCallback(int i,double dt,double t,double *x,double *y,
       void *cd=NULL);

//=============================================================================
}; // END of class suPointMassIATaylor
//=============================================================================
//=============================================================================


#endif // #ifndef __suPointMassIATaylor_h__

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