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iwall.h
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1 #pragma once
2 
7 #include "base/src/farray.h"
8 
9 namespace itasca {
10  class IThing;
11  class IGroup;
12 }
13 namespace itascaxd {
14  class IPiece;
15  class IPieceMechanical;
16  class IBody;
17  class IContact;
18 }
19 
20 namespace pfc {
21  using namespace itasca;
22  using namespace itascaxd;
23 
35  class IWall {
36  public:
38  inline static const TType type_ = 0x4cd817c3;
39 
41  virtual IThing * getIThing() = 0;
43  virtual const IThing * getIThing() const = 0;
45  virtual IWall * getNext() = 0;
47  virtual const IWall * getNext() const = 0;
49  virtual IPiece * getFirstIPiece() = 0;
51  virtual const IPiece * getFirstIPiece() const = 0;
53  virtual IPieceMechanical * getFirstIPieceMechanical() = 0;
55  virtual const IPieceMechanical *getFirstIPieceMechanical() const = 0;
57  virtual IBody * getIBody() = 0;
59  virtual const IBody * getIBody() const = 0;
61  virtual bool isFWall() const = 0;
63  //virtual QStringList getAllPieceProperties() const = 0;
64 
66  virtual DVect getPosition() const = 0;
68  virtual DVect getCentRot() const = 0;
70  virtual DVect getVelocity() const = 0;
72  virtual DAVect getAngVelocity() const = 0;
74  virtual DVect getDisplacement() const = 0;
75 #ifdef TWOD
76  virtual double getAngDisplacement() const = 0;
78 #endif
79  virtual DVect getForce() const = 0;
82  virtual DAVect getMoment() const = 0;
84  virtual Quat getOrient() const=0;
85 
87  virtual void setPosition(const DVect &p) = 0;
89  virtual void setCentRot(const DVect &p) = 0;
91  virtual void setVelocity(const DVect &p) = 0;
93  virtual void setAngVelocity(const DAVect &p) = 0;
95  virtual void setDisplacement(const DVect &v) = 0;
96 #ifdef TWOD
97  virtual void setAngDisplacement(const double &v) = 0;
99 #endif
100  virtual void setOrient(const Quat &q)=0;
102 #ifdef THREED
103  virtual void setOrientFromEuler(const DVect3 &d)=0;
105 #endif
106 
109  virtual void rotate(const DVect &rotp,const DVect &axis,const double &w,bool update=true,bool noThrow = false) = 0;
110 
112  virtual bool setProperty(const QString &name,const QVariant &v)=0;
114  virtual void getContactList(FArray<IContact *> *ret,const TType &type=0,const IPiece *p2=0)=0;
116  virtual void getContactList(FArray<const IContact *> *ret,const TType &type=0,const IPiece *p2=0) const=0;
118  virtual quint64 getContactCount(bool active,const TType &type=0,bool domainToo = false) const=0;
120  virtual double getServoGainFactor() const =0;
122  virtual double getServoGain() const =0;
124  virtual double getServoVmax() const =0;
126  virtual DVect getServoForce() const =0;
128  virtual bool getServoActive() const =0;
130  virtual int getServoGainUpdate() const =0;
132  virtual void setServoGainFactor(const double &d) =0;
134  virtual void setServoGain(const double &d) =0;
136  virtual void setServoVmax(const double &d) =0;
138  virtual void setServoForce(const DVect &f) =0;
140  virtual void setServoActive(bool b) =0;
142  virtual void setServoGainUpdate(int i) =0;
143  };
144 } // namespace pfc
145 // EoF
itasca
namespace Itasca
Definition: basememory.cpp:9
itasca::IThing
Base class for items that will be stored in containers.
Definition: ithing.h:31
pfc
PFC namespace.
Definition: iballfluid.h:15
farray.h
An array class that attempts to minimize unnecessary heap access.
itascaxd::IPiece
Definition: ipiece.h:15
itascaxd::IPieceMechanical
Definition: ipiecemechanical.h:11
TType
unsigned int TType
class type indicator
Definition: basedef.h:41
itascaxd
Itasca Library standard namespace, specific to 2D or 3D.
Definition: icontactmodule.h:4
DAVect
DAVect3 DAVect
Angular vector of doubles, either 2D or 3D.
Definition: dim.h:151
FArray
An array class that attempts to minimize unnecessary heap access.
Definition: farray.h:27
DVect
DVect3 DVect
Vector of doubles, either 2D or 3D.
Definition: dim.h:145
pfc::IWall
Interface for a generic wall. This is the interface for a generic wall. Specific wall types must deri...
Definition: iwall.h:35
Quat3
3D quaternion utility class.
Definition: quat.h:103
itascaxd::IBody
Definition: ibody.h:20
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