mbsim 4.0.0 MBSim Kernel

unilateral_newton_impact.h
1 /* Copyright (C) 2004-2014 MBSim Development Team
2 *
3 * This library is free software; you can redistribute it and/or
4 * modify it under the terms of the GNU Lesser General Public
5 * License as published by the Free Software Foundation; either
6 * version 2.1 of the License, or (at your option) any later version.
7 *
8 * This library is distributed in the hope that it will be useful,
9 * but WITHOUT ANY WARRANTY; without even the implied warranty of
10 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
11 * Lesser General Public License for more details.
12 *
13 * You should have received a copy of the GNU Lesser General Public
14 * License along with this library; if not, write to the Free Software
15 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
16 *
17 * Contact: martin.o.foerg@googlemail.com
18 */
19
20 #ifndef _UNILATERAL_NEWTON_IMPACT_H_
21 #define _UNILATERAL_NEWTON_IMPACT_H_
22
23 #include <mbsim/constitutive_laws/generalized_impact_law.h>
24
25 namespace MBSim {
26
33 class UnilateralNewtonImpact : public GeneralizedImpactLaw {
34 public:
38 UnilateralNewtonImpact(double epsilon_=0) : epsilon(epsilon_) { }
39
43 UnilateralNewtonImpact(double epsilon_, double gd_limit_) : epsilon(epsilon_), gd_limit(gd_limit_) { }
44
48 ~UnilateralNewtonImpact() override = default;
49
50 /* INHERITED INTERFACE */
51 double project(double la, double gdn, double gda, double r, double laMin=0) override;
52 fmatvec::Vec diff(double la, double gdn, double gda, double r, double laMin=0) override;
53 double solve(double G, double gdn, double gda) override;
54 bool isFulfilled(double la, double gdn, double gda, double laTol, double gdTol, double laMin=0) override;
55 void initializeUsingXML(xercesc::DOMElement *element) override;
56 /***************************************************/
57
58 protected:
59 double epsilon, gd_limit{1e-2};
60 };
61
62 }
63
64 #endif
MBSim::UnilateralNewtonImpact::UnilateralNewtonImpact
UnilateralNewtonImpact(double epsilon_=0)
constructor
Definition: unilateral_newton_impact.h:38
MBSim::UnilateralNewtonImpact::~UnilateralNewtonImpact
~UnilateralNewtonImpact() override=default
destructor
MBSim::UnilateralNewtonImpact
basic unilateral force law on velocity level for constraint description
Definition: unilateral_newton_impact.h:33
MBSim::GeneralizedImpactLaw
basic force law on velocity level for constraint description
Definition: generalized_impact_law.h:32
MBSim::UnilateralNewtonImpact::UnilateralNewtonImpact
UnilateralNewtonImpact(double epsilon_, double gd_limit_)
constructor
Definition: unilateral_newton_impact.h:43
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30