20 #ifndef _BILATERAL_IMPACT_H_
21 #define _BILATERAL_IMPACT_H_
23 #include <mbsim/constitutive_laws/generalized_impact_law.h>
45 virtual double project(
double la,
double gdn,
double gda,
double r,
double laMin=0);
46 virtual fmatvec::Vec diff(
double la,
double gdn,
double gda,
double r,
double laMin=0);
47 virtual double solve(
double G,
double gdn,
double gda);
48 virtual bool isFulfilled(
double la,
double gdn,
double gda,
double tolla,
double tolgd,
double laMin=0);
50 virtual std::string
getType()
const {
return "BilateralImpact"; }
virtual std::string getType() const
Definition: bilateral_impact.h:50
virtual ~BilateralImpact()
destructor
Definition: bilateral_impact.h:42
basic bilateral force law on velocity level for constraint description
Definition: bilateral_impact.h:32
basic force law on velocity level for constraint description
Definition: generalized_impact_law.h:32
BilateralImpact()
constructor
Definition: bilateral_impact.h:37