mbsim 4.0.0 MBSim Kernel

friction_impact_law.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 _FRICTION_IMPACT_LAW_H_
21 #define _FRICTION_IMPACT_LAW_H_
22
23 #include "mbsim/functions/function.h"
24
25 namespace MBSim {
26
32 class FrictionImpactLaw : public Element {
33 public:
37 FrictionImpactLaw() : Element(uniqueDummyName(this)) {
38 plotFeature[plotRecursive]=false;
39 }
40
44 ~FrictionImpactLaw() override = default;
45
46 /* INTERFACE FOR DERIVED CLASSES */
47 virtual fmatvec::Vec project(const fmatvec::Vec& la, const fmatvec::Vec& gdn, const fmatvec::Vec& gda, double laN, double r) = 0;
48 virtual fmatvec::Mat diff(const fmatvec::Vec& la, const fmatvec::Vec& gdn, const fmatvec::Vec& gda, double laN, double r) = 0;
49 virtual fmatvec::Vec solve(const fmatvec::SqrMat& G, const fmatvec::Vec& gdn, const fmatvec::Vec& gda, double laN) = 0;
50 virtual bool isFulfilled(const fmatvec::Vec& la, const fmatvec::Vec& gdn, const fmatvec::Vec& gda, double laN, double tolla, double tolgd) = 0;
51 virtual int isSticking(const fmatvec::Vec& la, const fmatvec::Vec& gdn, const fmatvec::Vec& gda, double laN, double laTol, double gdTol) = 0;
52 virtual int getFrictionDirections() = 0;
53 /***************************************************/
54 };
55
56 }
57
58 #endif
MBSim::Element::plotFeature
PlotFeatureMap plotFeature
plot feature
Definition: element.h:309
MBSim::FrictionImpactLaw::FrictionImpactLaw
FrictionImpactLaw()
constructor
Definition: friction_impact_law.h:37
MBSim::Element
basic class of MBSim mainly for plotting
Definition: element.h:56
MBSim::FrictionImpactLaw
basic friction force law on velocity level for constraint description
Definition: friction_impact_law.h:32
MBSim::FrictionImpactLaw::~FrictionImpactLaw
~FrictionImpactLaw() override=default
destructor
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30