mbsim 4.0.0 MBSim Kernel

point_planewithfrustum.h
1 /* Copyright (C) 2004-2009 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 _CONTACT_KINEMATICS_POINT_PLANEWITHFRUSTUM_H_
21 #define _CONTACT_KINEMATICS_POINT_PLANEWITHFRUSTUM_H_
22
23 #include "contact_kinematics.h"
24
25 namespace MBSim {
26
27 class Point;
28 class PlaneWithFrustum;
29
34 class ContactKinematicsPointPlaneWithFrustum : public ContactKinematics {
35 public:
36 ContactKinematicsPointPlaneWithFrustum();
37
38 /* INHERITED INTERFACE */
39 void assignContours(const std::vector<Contour*> &contour) override;
40 void updateg(SingleContact &contact, int i=0) override;
41 /***************************************************/
42
43 private:
47 int ipoint, iplane;
48
52 double rho, h;
53 double rTop, rFrustumTop, rFrustumPlane, rPlane;
54 fmatvec::Vec3 ET, EP, MT, MP;
55 fmatvec::Vec3 nFrustum, tFrustum;
56
60 Point *point;
61 PlaneWithFrustum *plane;
62
63 };
64
65 }
66
67 #endif /* _CONTACT_KINEMATICS_POINT_PLANEWITHFRUSTUM_H_ */
MBSim::ContactKinematicsPointPlaneWithFrustum::rho
double rho
static contour parameter
Definition: point_planewithfrustum.h:52
MBSim::ContactKinematicsPointPlaneWithFrustum::ipoint
int ipoint
contour index
Definition: point_planewithfrustum.h:47
MBSim::ContactKinematicsPointPlaneWithFrustum::updateg
void updateg(SingleContact &contact, int i=0) override
compute contact kinematics for a single contact
Definition: point_planewithfrustum.cc:91
MBSim::ContactKinematicsPointPlaneWithFrustum
pairing point to plane
Definition: point_planewithfrustum.h:34
MBSim::ContactKinematicsPointPlaneWithFrustum::assignContours
void assignContours(const std::vector< Contour * > &contour) override
treats ordering of contours
Definition: point_planewithfrustum.cc:34
MBSim::ContactKinematicsPointPlaneWithFrustum::point
Point * point
contour classes
Definition: point_planewithfrustum.h:60
MBSim::PlaneWithFrustum
plane without borders and a frustum on reference kos
Definition: planewithfrustum.h:34
MBSim::SingleContact
class for contacts
Definition: single_contact.h:46
MBSim::ContactKinematics
basic class for contact kinematical calculations
Definition: contact_kinematics.h:41
MBSim::Point
most primitive contour: the point (no extention)
Definition: point.h:35
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30