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point_frustum.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_POINT_FRUSTUM_H_
21 #define _CONTACT_KINEMATICS_POINT_FRUSTUM_H_
22 
23 #include "contact_kinematics.h"
24 #include "mbsim/mbsim_event.h"
25 
26 namespace MBSim {
27 
28  class Point;
29  class Frustum;
30 
42  public:
43  /* INHERITED INTERFACE */
44  virtual void assignContours(const std::vector<Contour*> &contour);
45  virtual void updateg(double &g, std::vector<ContourFrame*> &cFrame, int index = 0);
46  virtual void updatewb(fmatvec::Vec &wb, double g, std::vector<ContourFrame*> &cFrame) { throw MBSimError("(ContactKinematicsPointFrustum:updatewb): Not implemented!"); }
47  /***************************************************/
48 
49  protected:
53  int ipoint, ifrustum;
54 
59  Frustum *frustum;
60  };
61 
62 }
63 
64 #endif /* _CONTACT_KINEMATICS_POINT_FRUSTUM_H_ */
65 
Point * point
contour classes
Definition: point_frustum.h:58
virtual void updatewb(fmatvec::Vec &wb, double g, std::vector< ContourFrame * > &cFrame)
compute acceleration in terms of contour parameters for event driven integration
Definition: point_frustum.h:46
frustum with axis in direction of second column of contour reference frame
Definition: frustum.h:36
int ipoint
contour index
Definition: point_frustum.h:53
pairing point to frustum surface
Definition: point_frustum.h:41
virtual void assignContours(const std::vector< Contour * > &contour)
treats ordering of contours
Definition: point_frustum.cc:32
basic error class for mbsim
Definition: mbsim_event.h:38
basic class for contact kinematical calculations
Definition: contact_kinematics.h:39
most primitive contour: the point (no extention)
Definition: point.h:35
virtual void updateg(double &g, std::vector< ContourFrame * > &cFrame, int index=0)
compute normal distance, possible contact point positions and orientation (cf. contact.cc)
Definition: point_frustum.cc:47

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