59 lines
1.7 KiB
C++
59 lines
1.7 KiB
C++
/*****************************************************************//**
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* \file System.h
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* \brief Multibody system of parts, joints, forces.
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*
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* \author askoh
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* \date May 2023
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*********************************************************************/
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#pragma once
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#include <memory>
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#include <vector>
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#include "Item.h"
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#include "Part.h"
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#include "Joint.h"
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#include "SystemSolver.h"
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#include "Time.h"
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namespace MbD {
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class Part;
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class Joint;
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class SystemSolver;
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class System : public Item
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{
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//ToDo: Needed members admSystem namedItems mbdTime parts jointsMotions forcesTorques sensors variables hasChanged mbdSystemSolver
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public:
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static System& getInstance() {
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//https://medium.com/@caglayandokme/further-enhancing-the-singleton-pattern-in-c-8278b02b1ac7
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static System singleInstance; // Block-scoped static Singleton instance
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return singleInstance;
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};
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static System& getInstance(const char* str) {
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//https://medium.com/@caglayandokme/further-enhancing-the-singleton-pattern-in-c-8278b02b1ac7
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static System singleInstance(str); // Block-scoped static Singleton instance
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return singleInstance;
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};
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std::unique_ptr<std::vector<std::shared_ptr<Part>>> parts;
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std::unique_ptr<std::vector<std::shared_ptr<Joint>>> jointsMotions;
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bool hasChanged = false;
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std::shared_ptr<SystemSolver> systemSolver;
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void addPart(std::shared_ptr<Part> part);
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void runKINEMATICS();
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void initializeLocally() override;
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void initializeGlobally() override;
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std::unique_ptr<Time> time;
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private:
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System();
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System(const char* str);
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//System() = default; // Private constructor
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System(const System&) = delete;
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System& operator=(const System&) = delete; // Deleted copy assignment
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~System() = default; // Private destructor
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};
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}
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