mbsim 4.0.0 MBSim Kernel

sphere_plate.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_SPHERE_RECTANGLE_H_
21 #define _CONTACT_KINEMATICS_SPHERE_RECTANGLE_H_
22
23 #include "contact_kinematics.h"
24
25 namespace MBSim {
26
27 class Sphere;
28 class Plate;
29
37 class ContactKinematicsSpherePlate : public ContactKinematics {
38 public:
39 /* INHERITED INTERFACE */
40 void assignContours(const std::vector<Contour*> &contour) override;
41 void updateg(SingleContact &contact, int i=0) override;
42 /***************************************************/
43
44 private:
48 int isphere, iplate;
49
53 Sphere *sphere;
54 Plate *plate;
55
56 };
57
58 }
59
60 #endif
MBSim::ContactKinematicsSpherePlate::isphere
int isphere
contour index
Definition: sphere_plate.h:48
MBSim::ContactKinematicsSpherePlate::updateg
void updateg(SingleContact &contact, int i=0) override
compute contact kinematics for a single contact
Definition: sphere_plate.cc:47
MBSim::ContactKinematicsSpherePlate::assignContours
void assignContours(const std::vector< Contour * > &contour) override
treats ordering of contours
Definition: sphere_plate.cc:32
MBSim::ContactKinematicsSpherePlate::sphere
Sphere * sphere
contour classes
Definition: sphere_plate.h:53
MBSim::Sphere
sphere
Definition: sphere.h:34
MBSim::Plate
RigidContour Plate.
Definition: plate.h:37
MBSim::ContactKinematicsSpherePlate
pairing sphere to plate
Definition: sphere_plate.h:37
MBSim::SingleContact
class for contacts
Definition: single_contact.h:46
MBSim::ContactKinematics
basic class for contact kinematical calculations
Definition: contact_kinematics.h:41
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30