TAPsElasticRodNode.hpp

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/******************************************************************************
TAPsElasticRodNode.hpp
******************************************************************************/
/******************************************************************************
SUKITTI PUNAK   (07/07/2009)
UPDATE          (03/21/2011)
******************************************************************************/
#ifndef TAPs_ELASTIC_ROD_NODE_HPP
#define TAPs_ELASTIC_ROD_NODE_HPP

#include "../../Physics/TAPsPointMassDynamic.hpp"
#include <list>

#ifdef  TAPs_ADVANCED_SIMULATION
#include "../../DataStructure/TAPsSimulationFlags.hpp"
#endif//TAPs_ADVANCED_SIMULATION

BEGIN_NAMESPACE_TAPs
//=============================================================================
template <typename T>
class ElasticRodNode {
public:
    ElasticRodNode () : 
        CenterlineRestLength(T(0)),
        OrientationRestLength(T(0)),
        ID(0)
        ,EnforcedPosition()
        ,UseEnforcedPosition( false )
        ,EnforcedOrientation()
        ,UseEnforcedOrientation( false )

        //#ifdef    TAPs_ADD_KNOT_RECOGNITION
        //,StickPairNodeID( -1 )
        //#endif//TAPs_ADD_KNOT_RECOGNITION

        // DEBUG
        , IsCollide( false )
    {
        IntrinsicStrainRate[0] = IntrinsicStrainRate[1] = IntrinsicStrainRate[2] = T(0);
        IntrinsicStrainQ[0].SetR( 0 );
        IntrinsicStrainQ[1].SetR( 0 );
        IntrinsicStrainQ[2].SetR( 0 );
        IntrinsicStrainQn[0].SetR( 0 );
        IntrinsicStrainQn[1].SetR( 0 );
        IntrinsicStrainQn[2].SetR( 0 );
    }

    ElasticRodNode ( ElasticRodNode<T> const & orig )   { *this = orig; }

    ~ElasticRodNode ()  {}

    std::string StrInfo () const
    {
        std::stringstream ss;
        ss << "ElasticRodNode<"<<typeid(T).name()<<"> Class: ";
        ss << "\n\tCenterline[0]: " << Centerline[0];
        ss << "\n\tCenterline[1]: " << Centerline[1];
        ss << "\n\tOrientation[0]: " << Orientation[0];
        ss << "\n\tOrientation[1]: " << Orientation[1];
        ss << "\n\tCenterlineRestLength: " << CenterlineRestLength;
        ss << "\n\tOrientationRestLength: " << OrientationRestLength;

        ss << "\n\tIntrinsicStrainRate: <" << IntrinsicStrainRate[0] <<','<< IntrinsicStrainRate[1] <<','<< IntrinsicStrainRate[2] << ">";
        ss << "\n\tIntrinsicStrainQ: <" << IntrinsicStrainQ[0] <<','<< IntrinsicStrainQ[1] <<','<< IntrinsicStrainQ[2] << ">";
        ss << "\n\tIntrinsicStrainQn: <" << IntrinsicStrainQn[0] <<','<< IntrinsicStrainQn[1] <<','<< IntrinsicStrainQn[2] << ">";

        ss << "\n\tTorque: " << Torque;
        ss << "\n\tExternalForce: " << ExternalForce;
        ss << "\n\tExternalForce_Reserved: " << ExternalForce_Reserved;
        ss << "\n\tExternalForce_Constrained: " << ExternalForce_Constrained;
        ss << "\n\tExternalForce_ForAdvSimCtrl: " << ExternalForce_ForAdvSimCtrl;
        ss << "\n\tEnforcedPosition: " << EnforcedPosition;
        ss << "\n\tUseEnforcedPosition: " << UseEnforcedPosition;
        ss << "\n\tEnforcedOrientation: " << EnforcedOrientation;
        ss << "\n\tUseEnforcedOrientation: " << UseEnforcedOrientation;
        ss << "\n\tOldInternalForce: " << OldInternalForce;
        ss << "\n\tOldInternalTorque: " << OldInternalTorque;

            // DEBUG
        ss << "\n\tIsCollide: " << IsCollide;

        #ifdef  TAPs_ADVANCED_SIMULATION
        ss << "\n\tSimFlags : " << SimFlags;
        #endif//TAPs_ADVANCED_SIMULATION

        ss << "\n";

        return ss.str();
    }

    void Reset ()
    {
        IsCollide = false;  // DEBUG

        ExternalForce.Clear();
        ExternalForce_Reserved.Clear();
        ExternalForce_Constrained.Clear();

        UseEnforcedPosition = false;
        EnforcedPosition.Clear();

        ExternalForce_ForAdvSimCtrl.Clear();

        #ifdef  TAPs_ADVANCED_SIMULATION
        SimFlags.ClearAllFlags();
        #endif//TAPs_ADVANCED_SIMULATION

        //#ifdef    TAPs_ADD_KNOT_RECOGNITION
        //StickPairNodeID = -1;
        //#endif/TAPs_ADD_KNOT_RECOGNITION
    }

    inline ElasticRodNode<T> & operator= ( ElasticRodNode<T> const & orig )
    {
        if ( this != &orig ) {
            Centerline[0]   = orig.Centerline[0];
            Centerline[1]   = orig.Centerline[1];
            Orientation[0]  = orig.Orientation[0];
            Orientation[1]  = orig.Orientation[1];
            CenterlineRestLength    = orig.CenterlineRestLength;
            OrientationRestLength   = orig.OrientationRestLength;
            //u_k  = orig.u_k;
            //w_k  = orig.w_k;
            //w0_k = orig.w0_k;

            for ( int i = 0; i < 3; ++i ) {
                IntrinsicStrainRate[i]  = orig.IntrinsicStrainRate[i];
                IntrinsicStrainQ[i]     = orig.IntrinsicStrainQ[i];
                IntrinsicStrainQn[i]    = orig.IntrinsicStrainQn[i];
            }
            Torque                  = orig.Torque;
            ExternalForce           = orig.ExternalForce;
            ExternalForce_Reserved  = orig.ExternalForce_Reserved;
            ExternalForce_Constrained = orig.ExternalForce_Constrained;
            ExternalForce_ForAdvSimCtrl = orig.ExternalForce_ForAdvSimCtrl;
            EnforcedPosition        = orig.EnforcedPosition;
            UseEnforcedPosition     = orig.UseEnforcedPosition;
            EnforcedOrientation     = orig.EnforcedOrientation;
            UseEnforcedOrientation  = orig.UseEnforcedOrientation;
            OldInternalForce        = orig.OldInternalForce;
            OldInternalTorque       = orig.OldInternalTorque;

            // DEBUG
            IsCollide = orig.IsCollide;

            #ifdef  TAPs_ADVANCED_SIMULATION
            SimFlags = orig.SimFlags;
            #endif//TAPs_ADVANCED_SIMULATION
        }
        return *this;
    }
    //-----------------------------------------------------------
    // Public data members

    void SetMass ( T m )
    {
        Centerline[0].SetMass( m );
        Centerline[1].SetMass( m );
    }
    T GetMass () const { return Centerline[0].GetMass(); };

    PointMassDynamic<T> Centerline[2];  
    Quaternion<T>       Orientation[2]; 

    T CenterlineRestLength;     
    T OrientationRestLength;    

    T   IntrinsicStrainRate[3]; 
    Quaternion<T>   IntrinsicStrainQ[3];    
    Quaternion<T>   IntrinsicStrainQn[3];   

    Quaternion<T>   Torque;     

    Vector3<T>  ExternalForce;      
    Vector3<T>  ExternalForce_Reserved; 
    Vector3<T>  ExternalForce_Constrained;  

    Vector3<T>  ExternalForce_ForAdvSimCtrl;    

    Vector3<T>      EnforcedPosition;       
    bool            UseEnforcedPosition;    
    Quaternion<T>   EnforcedOrientation;    
    bool            UseEnforcedOrientation; 

    Vector3<T>      OldInternalForce;   
    Quaternion<T>   OldInternalTorque;  

    // DEBUG
    bool IsCollide;         

    unsigned int ID;        

    //T u_k;    //!< $u_k = \frac{2}{\|\Quaternion\|} \mathbf{B}_k \Quaterion \cdot \Quaternion'$

    //T w_k;    //!< $\omega_k = \frac{2}{\|\Quaternion\|} \mathbf{B}_k \Quaterion \cdot \dot{\Quaternion}$

    //T w0_k;   //!< $\omega^0_k = \frac{2}{\|\Quaternion\|} \mathbf{B}^0_k \Quaterion \cdot \dot{\Quaternion}$

    #ifdef  TAPs_ADVANCED_SIMULATION
    DS::SimulationFlags     SimFlags;   
    #endif//TAPs_ADVANCED_SIMULATION

    //#ifdef    TAPs_ADD_KNOT_RECOGNITION
    //int       StickPairNodeID;    //!< for animating knot tying -- a pair node that will stick with this node -- less than or equal to zero means no a stick pair for this node exist
    //#endif//TAPs_ADD_KNOT_RECOGNITION

    //-----------------------------------------------------------

    // Below are Data Members for simulation per node
    // Remark: the computation is from the first node to the last node.
    // Hence, the orientation for the last node will not be used, since 
    // an orientation is formed from a pair of nodes.

    //Vector3<T>        SpatialDerivativeOfCenterline;      //!< $r'_i = \frac{cendiff_i}{cenlen_i}$

    //Vector3<T>    TimeDerivativeOfCenterline;
    //Quaternion<T> SpatialDerivativeOfOrientation;     //!< $q'_j = \frac{oridiff_j}{orilen_j}$
    
    //Quaternion<T> TimeDerivativeOfOrientation;

    // Potential Energies
    //T Vs;     //!< the stretch energy = $0.5 cenlen^0_i K_s \frac{cenlen_i}{cenlen^0_i} - 1)^2$
    //T Vb;     //!< the bend energy = $0.5 orilen^0_j { \sum_{k=1}^3 K_{kk} (B_k(oriadd_j) \cdot SpatialDerivativeOfOrientation ) - \hat{u}_k )^2 }$

    //-----------------------------------------------------------
    // Private data members
private:
    //-----------------------------------------------------------
//=============================================================================
}; // CLASS END: ElasticRodNode
//=============================================================================
//The statement below generates error C2823: a typedef template is illegal.
//template <typename T>
//typedef std::vector< ElasticRodNode<T> >  SetOfElasticRodNodes;   //!< type definition for a list of elastic rod nodes
//=============================================================================
END_NAMESPACE_TAPs
//-----------------------------------------------------------------------------
//#include "TAPsElasticRodNode.cpp"
//-----------------------------------------------------------------------------
#endif
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