1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
|
#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 override {return new ParticleConSurfaceSystemGuts(*this);}
/////////////////////////////////////////////////////////
// Implementation of continuous DynamicSystem virtuals //
/////////////////////////////////////////////////////////
/*virtual*/int realizeTopologyImpl(State&) const override;
/*virtual*/int realizeModelImpl(State&) const override;
/*virtual*/int realizeInstanceImpl(const State&) const override;
/*virtual*/int realizePositionImpl(const State&) const override;
/*virtual*/int realizeVelocityImpl(const State&) const override;
/*virtual*/int realizeDynamicsImpl(const State&) const override;
/*virtual*/int realizeAccelerationImpl(const State&) const override;
// qdot==u here so these are just copies
/*virtual*/void multiplyByNImpl(const State& state, const Vector& u,
Vector& dq) const override {dq=u;}
/*virtual*/void multiplyByNTransposeImpl(const State& state, const Vector& fq,
Vector& fu) const override {fu=fq;}
/*virtual*/void multiplyByNPInvImpl(const State& state, const Vector& dq,
Vector& u) const override {u=dq;}
/*virtual*/void multiplyByNPInvTransposeImpl(const State& state, const Vector& fu,
Vector& fq) const override {fq=fu;}
// No prescribed motion.
/*virtual*/bool prescribeQImpl(State&) const override {return false;}
/*virtual*/bool prescribeUImpl(State&) const override {return false;}
// No constraints.
/*virtual*/void projectQImpl(State&, Vector& qErrEst,
const ProjectOptions& options, ProjectResults& results) const override;
/*virtual*/void projectUImpl(State&, Vector& uErrEst,
const ProjectOptions& options, ProjectResults& results) const override;
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_*/
|
