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files: add Rod-related traits and include trees
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@skim0119
skim0119 committed Jul 12, 2024
1 parent d005f62 commit 5b28ec7
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302 changes: 302 additions & 0 deletions backend/src/Systems/CosseratRods/Access.hpp
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#pragma once

//******************************************************************************
// Includes
//******************************************************************************

#include <cstddef> // size_t

#include "Systems/common/Access.hpp"
/// Forward declarations
#include "Systems/CosseratRods/Types.hpp"
///
#include "Systems/CosseratRods/CosseratRodPlugin.hpp"

namespace elastica {

//============================================================================
//
// ACCESS API FUNCTIONS
//
//============================================================================

//**Position functions********************************************************
/*!\name Position functions */
//@{
/*!\brief Specialization of elastica::position() for Cosserat rods
* \ingroup cosserat_rod
*/
template <typename CRT, template <typename> class ComputationalBlock,
template <typename /*CRT*/, typename /* ComputationalBlock */>
class... Components>
inline constexpr decltype(auto) position(
::elastica::cosserat_rod::CosseratRodPlugin<
CRT, ComputationalBlock, Components...>& cosserat_rod) noexcept {
// get_position() wraps around a free function, so the API is still not bad
return cosserat_rod.self().get_position();
}
template <typename CRT, template <typename> class ComputationalBlock,
template <typename /*CRT*/, typename /* ComputationalBlock */>
class... Components>
inline constexpr decltype(auto) position(
::elastica::cosserat_rod::CosseratRodPlugin<CRT, ComputationalBlock,
Components...>& cosserat_rod,
std::size_t index) noexcept {
// tentative, can change
// ideally should be position(blocks::slice(cosserat_rod, index));
// but slice(cosserat_rod_slice) is not defined (and we do not need it per
// se).

// Other option is
// blocks::slice(position(cosserat_rod), index);
// which is very close to what we have below. The problem here is that
// position(cosserat_rod) is not a block anymore, so the semantics are not
// well formed.
return cosserat_rod.self().get_position(index);
}

template <typename CRT, template <typename> class ComputationalBlock,
template <typename /*CRT*/, typename /* ComputationalBlock */>
class... Components>
inline constexpr decltype(auto) position(
::elastica::cosserat_rod::CosseratRodPlugin<CRT, ComputationalBlock,
Components...> const&
cosserat_rod) noexcept {
return cosserat_rod.self().get_position();
}
template <typename CRT, template <typename> class ComputationalBlock,
template <typename /*CRT*/, typename /* ComputationalBlock */>
class... Components>
inline constexpr decltype(auto) position(
::elastica::cosserat_rod::CosseratRodPlugin<
CRT, ComputationalBlock, Components...> const& cosserat_rod,
std::size_t index) noexcept {
return cosserat_rod.self().get_position(index);
}
//@}
//****************************************************************************

//**Director functions********************************************************
/*!\name Director functions */
//@{
/*!\brief Specialization of elastica::director() for Cosserat rods
* \ingroup cosserat_rod
*/
template <typename CRT, template <typename> class ComputationalBlock,
template <typename /*CRT*/, typename /* ComputationalBlock */>
class... Components>
inline constexpr decltype(auto) director(
::elastica::cosserat_rod::CosseratRodPlugin<
CRT, ComputationalBlock, Components...>& cosserat_rod) noexcept {
return cosserat_rod.self().get_director();
}
template <typename CRT, template <typename> class ComputationalBlock,
template <typename /*CRT*/, typename /* ComputationalBlock */>
class... Components>
inline constexpr decltype(auto) director(
::elastica::cosserat_rod::CosseratRodPlugin<CRT, ComputationalBlock,
Components...>& cosserat_rod,
std::size_t index) noexcept {
return cosserat_rod.self().get_director(index);
}

template <typename CRT, template <typename> class ComputationalBlock,
template <typename /*CRT*/, typename /* ComputationalBlock */>
class... Components>
inline constexpr decltype(auto) director(
::elastica::cosserat_rod::CosseratRodPlugin<CRT, ComputationalBlock,
Components...> const&
cosserat_rod) noexcept {
return cosserat_rod.self().get_director();
}
template <typename CRT, template <typename> class ComputationalBlock,
template <typename /*CRT*/, typename /* ComputationalBlock */>
class... Components>
inline constexpr decltype(auto) director(
::elastica::cosserat_rod::CosseratRodPlugin<
CRT, ComputationalBlock, Components...> const& cosserat_rod,
std::size_t index) noexcept {
return cosserat_rod.self().get_director(index);
}
//@}
//****************************************************************************

//**Velocity functions********************************************************
/*!\name Velocity functions */
//@{
/*!\brief Specialization of elastica::velocity() for Cosserat rods
* \ingroup cosserat_rod
*/
template <typename CRT, template <typename> class ComputationalBlock,
template <typename /*CRT*/, typename /* ComputationalBlock */>
class... Components>
inline constexpr decltype(auto) velocity(
::elastica::cosserat_rod::CosseratRodPlugin<
CRT, ComputationalBlock, Components...>& cosserat_rod) noexcept {
return cosserat_rod.self().get_velocity();
}
template <typename CRT, template <typename> class ComputationalBlock,
template <typename /*CRT*/, typename /* ComputationalBlock */>
class... Components>
inline constexpr decltype(auto) velocity(
::elastica::cosserat_rod::CosseratRodPlugin<CRT, ComputationalBlock,
Components...>& cosserat_rod,
std::size_t index) noexcept {
return cosserat_rod.self().get_velocity(index);
}

template <typename CRT, template <typename> class ComputationalBlock,
template <typename /*CRT*/, typename /* ComputationalBlock */>
class... Components>
inline constexpr decltype(auto) velocity(
::elastica::cosserat_rod::CosseratRodPlugin<CRT, ComputationalBlock,
Components...> const&
cosserat_rod) noexcept {
return cosserat_rod.self().get_velocity();
}
template <typename CRT, template <typename> class ComputationalBlock,
template <typename /*CRT*/, typename /* ComputationalBlock */>
class... Components>
inline constexpr decltype(auto) velocity(
::elastica::cosserat_rod::CosseratRodPlugin<
CRT, ComputationalBlock, Components...> const& cosserat_rod,
std::size_t index) noexcept {
return cosserat_rod.self().get_velocity(index);
}
//@}
//****************************************************************************

//**Angular Velocity functions************************************************
/*!\name Angular Velocity functions */
//@{
/*!\brief Specialization of elastica::angular_velocity() for Cosserat rods
* \ingroup cosserat_rod
*/
template <typename CRT, template <typename> class ComputationalBlock,
template <typename /*CRT*/, typename /* ComputationalBlock */>
class... Components>
inline constexpr decltype(auto) angular_velocity(
::elastica::cosserat_rod::CosseratRodPlugin<
CRT, ComputationalBlock, Components...>& cosserat_rod) noexcept {
return cosserat_rod.self().get_angular_velocity();
}
template <typename CRT, template <typename> class ComputationalBlock,
template <typename /*CRT*/, typename /* ComputationalBlock */>
class... Components>
inline constexpr decltype(auto) angular_velocity(
::elastica::cosserat_rod::CosseratRodPlugin<CRT, ComputationalBlock,
Components...>& cosserat_rod,
std::size_t index) noexcept {
return cosserat_rod.self().get_angular_velocity(index);
}

template <typename CRT, template <typename> class ComputationalBlock,
template <typename /*CRT*/, typename /* ComputationalBlock */>
class... Components>
inline constexpr decltype(auto) angular_velocity(
::elastica::cosserat_rod::CosseratRodPlugin<CRT, ComputationalBlock,
Components...> const&
cosserat_rod) noexcept {
return cosserat_rod.self().get_angular_velocity();
}
template <typename CRT, template <typename> class ComputationalBlock,
template <typename /*CRT*/, typename /* ComputationalBlock */>
class... Components>
inline constexpr decltype(auto) angular_velocity(
::elastica::cosserat_rod::CosseratRodPlugin<
CRT, ComputationalBlock, Components...> const& cosserat_rod,
std::size_t index) noexcept {
return cosserat_rod.self().get_angular_velocity(index);
}
//@}
//****************************************************************************

//**External loads functions**************************************************
/*!\name External loads functions */
//@{
/*!\brief Specialization of elastica::external_loads() for Cosserat rods
* \ingroup cosserat_rod
*/
template <typename CRT, template <typename> class ComputationalBlock,
template <typename /*CRT*/, typename /* ComputationalBlock */>
class... Components>
inline constexpr decltype(auto) external_loads(
::elastica::cosserat_rod::CosseratRodPlugin<
CRT, ComputationalBlock, Components...>& cosserat_rod) noexcept {
return cosserat_rod.self().get_external_loads();
}
template <typename CRT, template <typename> class ComputationalBlock,
template <typename /*CRT*/, typename /* ComputationalBlock */>
class... Components>
inline constexpr decltype(auto) external_loads(
::elastica::cosserat_rod::CosseratRodPlugin<CRT, ComputationalBlock,
Components...>& cosserat_rod,
std::size_t index) noexcept {
return cosserat_rod.self().get_external_loads(index);
}
template <typename CRT, template <typename> class ComputationalBlock,
template <typename /*CRT*/, typename /* ComputationalBlock */>
class... Components>
inline constexpr decltype(auto) external_loads(
::elastica::cosserat_rod::CosseratRodPlugin<CRT, ComputationalBlock,
Components...> const&
cosserat_rod) noexcept {
return cosserat_rod.self().get_external_loads();
}
template <typename CRT, template <typename> class ComputationalBlock,
template <typename /*CRT*/, typename /* ComputationalBlock */>
class... Components>
inline constexpr decltype(auto) external_loads(
::elastica::cosserat_rod::CosseratRodPlugin<
CRT, ComputationalBlock, Components...> const& cosserat_rod,
std::size_t index) noexcept {
return cosserat_rod.self().get_external_loads(index);
}
//@}
//****************************************************************************

//**External torques functions************************************************
/*!\name External torques functions */
//@{
/*!\brief Specialization of elastica::external_torques() for Cosserat rods
* \ingroup cosserat_rod
*/
template <typename CRT, template <typename> class ComputationalBlock,
template <typename /*CRT*/, typename /* ComputationalBlock */>
class... Components>
inline constexpr decltype(auto) external_torques(
::elastica::cosserat_rod::CosseratRodPlugin<
CRT, ComputationalBlock, Components...>& cosserat_rod) noexcept {
return cosserat_rod.self().get_external_torques();
}
template <typename CRT, template <typename> class ComputationalBlock,
template <typename /*CRT*/, typename /* ComputationalBlock */>
class... Components>
inline constexpr decltype(auto) external_torques(
::elastica::cosserat_rod::CosseratRodPlugin<CRT, ComputationalBlock,
Components...>& cosserat_rod,
std::size_t index) noexcept {
return cosserat_rod.self().get_external_torques(index);
}
template <typename CRT, template <typename> class ComputationalBlock,
template <typename /*CRT*/, typename /* ComputationalBlock */>
class... Components>
inline constexpr decltype(auto) external_torques(
::elastica::cosserat_rod::CosseratRodPlugin<CRT, ComputationalBlock,
Components...> const&
cosserat_rod) noexcept {
return cosserat_rod.self().get_external_torques();
}
template <typename CRT, template <typename> class ComputationalBlock,
template <typename /*CRT*/, typename /* ComputationalBlock */>
class... Components>
inline constexpr decltype(auto) external_torques(
::elastica::cosserat_rod::CosseratRodPlugin<
CRT, ComputationalBlock, Components...> const& cosserat_rod,
std::size_t index) noexcept {
return cosserat_rod.self().get_external_torques(index);
}
//@}
//****************************************************************************

} // namespace elastica
7 changes: 7 additions & 0 deletions backend/src/Systems/CosseratRods/Aliases.hpp
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#pragma once

//******************************************************************************
// Includes
//******************************************************************************
#include "Systems/CosseratRods/Aliases/CosseratRod.hpp"
#include "Systems/CosseratRods/Aliases/CosseratRodWithoutDamping.hpp"
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