20 #ifndef _REGULARIZED_SPATIAL_FRICTION_H_
21 #define _REGULARIZED_SPATIAL_FRICTION_H_
23 #include <mbsim/constitutive_laws/friction_force_law.h>
31 int getFrictionDirections() {
return 2; }
32 bool isSticking(
const fmatvec::Vec& s,
double sTol) {
return nrm2(s(0,1)) <= sTol; }
33 bool isSetValued()
const {
return false; }
34 virtual void initializeUsingXML(xercesc::DOMElement *element);
FrictionForceLaw(Function< fmatvec::Vec(fmatvec::Vec, double)> *frictionForceFunc_=NULL)
constructor
Definition: friction_force_law.h:37
basic friction force law on acceleration level for constraint description
Definition: friction_force_law.h:32
Definition: planar_contour.h:31
Definition: regularized_spatial_friction.h:27