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#ifndef SimTK_SIMBODY_PARTICLECONSURFACESYSTEM_H_
#define SimTK_SIMBODY_PARTICLECONSURFACESYSTEM_H_
/* -------------------------------------------------------------------------- *
* Simbody(tm): SimTKmath *
* -------------------------------------------------------------------------- *
* This is part of the SimTK biosimulation toolkit originating from *
* Simbios, the NIH National Center for Physics-Based Simulation of *
* Biological Structures at Stanford, funded under the NIH Roadmap for *
* Medical Research, grant U54 GM072970. See https://simtk.org/home/simbody. *
* *
* Portions copyright (c) 2012 Stanford University and the Authors. *
* Authors: Ian Stavness, Michael Sherman *
* Contributors: *
* *
* Licensed under the Apache License, Version 2.0 (the "License"); you may *
* not use this file except in compliance with the License. You may obtain a *
* copy of the License at http://www.apache.org/licenses/LICENSE-2.0. *
* *
* Unless required by applicable law or agreed to in writing, software *
* distributed under the License is distributed on an "AS IS" BASIS, *
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. *
* See the License for the specific language governing permissions and *
* limitations under the License. *
* -------------------------------------------------------------------------- */
/**
* This is a System that represents the dynamics of a particle moving
* along a smooth surface. It is used to integrate Geodesic curves along
* implicit surfaces. The particle on surface constraint is stabilized
* with coordinate projection. (Implementation based on PendulumSystem.h)
*
**/
#include "simmath/internal/BicubicSurface.h" // XXX compiler needed this
#include "simmath/internal/ContactGeometry.h"
#include "SimTKcommon.h"
#include "SimTKcommon/internal/SystemGuts.h"
namespace SimTK {
class ParticleConSurfaceSystem;
class ParticleConSurfaceSystemGuts: public System::Guts {
friend class ParticleConSurfaceSystem;
// TOPOLOGY STATE
SubsystemIndex subsysIndex;
// TOPOLOGY CACHE
// mutable DiscreteVariableIndex massIndex, lengthIndex, gravityIndex;
DiscreteVariableIndex geodesicIndex, geometryIndex;
mutable QIndex q0;
mutable UIndex u0;
mutable QErrIndex qerr0;
mutable UErrIndex uerr0;
mutable UDotErrIndex udoterr0;
mutable EventTriggerByStageIndex event0;
public:
ParticleConSurfaceSystemGuts(const ContactGeometryImpl& geom)
: Guts(), geom(geom) {
// Index types set themselves invalid on construction.
}
inline const ParticleConSurfaceSystem& getParticleConSurfaceSystem() const;
SubsystemIndex getSubsysIndex() const {
return subsysIndex;
}
/*virtual*/ParticleConSurfaceSystemGuts* cloneImpl() const {return new ParticleConSurfaceSystemGuts(*this);}
/////////////////////////////////////////////////////////
// Implementation of continuous DynamicSystem virtuals //
/////////////////////////////////////////////////////////
/*virtual*/int realizeTopologyImpl(State&) const;
/*virtual*/int realizeModelImpl(State&) const;
/*virtual*/int realizeInstanceImpl(const State&) const;
/*virtual*/int realizePositionImpl(const State&) const;
/*virtual*/int realizeVelocityImpl(const State&) const;
/*virtual*/int realizeDynamicsImpl(const State&) const;
/*virtual*/int realizeAccelerationImpl(const State&) const;
// qdot==u here so these are just copies
/*virtual*/void multiplyByNImpl(const State& state, const Vector& u,
Vector& dq) const {dq=u;}
/*virtual*/void multiplyByNTransposeImpl(const State& state, const Vector& fq,
Vector& fu) const {fu=fq;}
/*virtual*/void multiplyByNPInvImpl(const State& state, const Vector& dq,
Vector& u) const {u=dq;}
/*virtual*/void multiplyByNPInvTransposeImpl(const State& state, const Vector& fu,
Vector& fq) const {fq=fu;}
// No prescribed motion.
/*virtual*/bool prescribeQImpl(State&) const {return false;}
/*virtual*/bool prescribeUImpl(State&) const {return false;}
// No constraints.
/*virtual*/void projectQImpl(State&, Vector& qErrEst,
const ProjectOptions& options, ProjectResults& results) const;
/*virtual*/void projectUImpl(State&, Vector& uErrEst,
const ProjectOptions& options, ProjectResults& results) const;
private:
const ContactGeometryImpl& geom;
}; // class ParticleConSurfaceSystemGuts
class ParticleConSurfaceSystem: public System {
public:
ParticleConSurfaceSystem(const ContactGeometryImpl& geom) : System()
{
adoptSystemGuts(new ParticleConSurfaceSystemGuts(geom));
DefaultSystemSubsystem defsub(*this);
updGuts().subsysIndex = defsub.getMySubsystemIndex();
setHasTimeAdvancedEvents(false);
}
const ParticleConSurfaceSystemGuts& getGuts() const {
return SimTK_DYNAMIC_CAST_DEBUG<const ParticleConSurfaceSystemGuts&>
(getSystemGuts());
}
ParticleConSurfaceSystemGuts& updGuts() {
return SimTK_DYNAMIC_CAST_DEBUG<ParticleConSurfaceSystemGuts&>
(updSystemGuts());
}
void setDefaultTimeAndState(Real t, const Vector& q, const Vector& u) {
const ParticleConSurfaceSystemGuts& guts = getGuts();
updDefaultState().updU(guts.subsysIndex) = u;
updDefaultState().updQ(guts.subsysIndex) = q;
updDefaultState().updTime() = t;
}
}; // class ParticleConSurfaceSystem
inline const ParticleConSurfaceSystem& ParticleConSurfaceSystemGuts::
getParticleConSurfaceSystem() const {
return static_cast<const ParticleConSurfaceSystem&>(getSystem());
}
} // namespace SimTK
#endif /*SimTK_SIMBODY_PARTICLECONSURFACESYSTEM_H_*/
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