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circle_flexibleband.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: thorsten.schindler@mytum.de
18  */
19 
20 #ifndef CIRCLESOLID_FLEXIBLEBAND_H_
21 #define CIRCLESOLID_FLEXIBLEBAND_H_
22 
23 #include "mbsim/contact_kinematics/contact_kinematics.h"
24 
25 namespace MBSim {
26  class Circle;
27  class Contour;
28 }
29 
30 namespace MBSimFlexibleBody {
31 
38  public:
43 
46  void setNumberOfPossibleContactPerNode(int n) { possibleContactsPerNode = n; }
47 
48  /* INHERITED INTERFACE OF CONTACTKINEAMTICS */
49  virtual void assignContours(const std::vector<MBSim::Contour*>& contour);
50  virtual void updateg(double &g, std::vector<MBSim::ContourFrame*> &cFrame, int index = 0);
51  virtual void updatewb(fmatvec::Vec &wb, double g, std::vector<MBSim::ContourFrame*> &cFrame);
52  /***************************************************/
53 
54  virtual ContactKinematics* getContactKinematics(int i=0) const { return contactKinematics[i]; }
55 
56  private:
60  int icircle, icontour;
61 
66 
71  MBSim::Contour *extrusion;
72 
73  fmatvec::Vec staticNodes;
74 
75  std::vector<ContactKinematics*> contactKinematics;
76  };
77 
78 }
79 
80 #endif
pairing solid cirlce to flexible band, planar only
Definition: circle_flexibleband.h:37
MBSim::Circle * circle
contour classes
Definition: circle_flexibleband.h:70
int possibleContactsPerNode
possible contacts regarded per node
Definition: circle_flexibleband.h:65
ContactKinematicsCircleFlexibleBand()
constructor
Definition: circle_flexibleband.cc:152
int icircle
contour index
Definition: circle_flexibleband.h:60

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