mbsim 4.0.0 MBSim Kernel

planar_coulomb_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 _PLANAR_COULOMB_IMPACT_H_
21 #define _PLANAR_COULOMB_IMPACT_H_
22
23 #include <mbsim/constitutive_laws/friction_impact_law.h>
24
25 namespace MBSim {
26
32 class PlanarCoulombImpact : public FrictionImpactLaw {
33 public:
37 PlanarCoulombImpact(double mu_=0) : mu(mu_) { }
38
42 ~PlanarCoulombImpact() override = default;
43
44 /* INHERITED INTERFACE */
45 fmatvec::Vec project(const fmatvec::Vec& la, const fmatvec::Vec& gdn, const fmatvec::Vec& gda, double laN, double r) override;
46 fmatvec::Mat diff(const fmatvec::Vec& la, const fmatvec::Vec& gdn, const fmatvec::Vec& gda, double laN, double r) override;
47 fmatvec::Vec solve(const fmatvec::SqrMat& G, const fmatvec::Vec& gdn, const fmatvec::Vec& gda, double laN) override;
48 bool isFulfilled(const fmatvec::Vec& la, const fmatvec::Vec& gdn, const fmatvec::Vec& gda, double laN, double laTol, double gdTol) override;
49 int isSticking(const fmatvec::Vec& la, const fmatvec::Vec& gdn, const fmatvec::Vec& gda, double laN, double laTol, double gdTol) override;
50 int getFrictionDirections() override { return 1; }
51 void initializeUsingXML(xercesc::DOMElement *element) override;
52 /***************************************************/
53
54 void setFrictionCoefficient(double mu_) { mu = mu_; }
55 double getFrictionCoefficient(double gd) { return mu; }
56
57 protected:
58 double mu;
59 };
60
61 }
62
63 #endif
MBSim::PlanarCoulombImpact
basic planar friction force law on velocity level for constraint description
Definition: planar_coulomb_impact.h:32
MBSim::FrictionImpactLaw
basic friction force law on velocity level for constraint description
Definition: friction_impact_law.h:32
MBSim::PlanarCoulombImpact::~PlanarCoulombImpact
~PlanarCoulombImpact() override=default
destructor
MBSim::PlanarCoulombImpact::PlanarCoulombImpact
PlanarCoulombImpact(double mu_=0)
constructor
Definition: planar_coulomb_impact.h:37
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30