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point_extrusion.h
1 /* Copyright (C) 2004-2015 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 POINT_EXTRUSION_H_
21 #define POINT_EXTRUSION_H_
22 
23 #include "mbsim/contact_kinematics/contact_kinematics.h"
24 
25 namespace MBSim {
26 
27  class Point;
28  class FuncPairPlanarContourPoint;
29 
35  public:
39  ContactKinematicsPointExtrusion() : ContactKinematics(), ipoint(0), iextrusion(0), point(0), extrusion(0), searchAllCP(false) { }
40 
45 
46  /* INHERITED INTERFACE OF CONTACTKINEAMTICS */
47  virtual void assignContours(const std::vector<MBSim::Contour*>& contour);
48  virtual void updateg(double &g, std::vector<MBSim::ContourFrame*> &cFrame, int index = 0);
49  virtual void updatewb(fmatvec::Vec &wb, double g, std::vector<MBSim::ContourFrame*> &cFrame);
50  /***************************************************/
51 
52  void setSearchAllContactPoints(bool searchAllCP_=true) { searchAllCP = searchAllCP_; }
53 
54  protected:
58  int ipoint, iextrusion;
59 
64  Contour *extrusion;
65 
67 
68  bool searchAllCP;
69  };
70 
71 }
72 
73 #endif
int ipoint
contour index
Definition: point_extrusion.h:58
virtual ~ContactKinematicsPointExtrusion()
destructor
Definition: point_extrusion.cc:33
root function for pairing PlanarContour and Point
Definition: funcpair_planarcontour_point.h:34
basic class for contour definition for rigid (which do not know about their shape) and flexible (they...
Definition: contour.h:40
MBSim::Point * point
contour classes
Definition: point_extrusion.h:63
pairing point to extrusion
Definition: point_extrusion.h:34
ContactKinematicsPointExtrusion()
constructor
Definition: point_extrusion.h:39
basic class for contact kinematical calculations
Definition: contact_kinematics.h:39
most primitive contour: the point (no extention)
Definition: point.h:35

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