20 #ifndef _UNILATERAL_NEWTON_IMPACT_H_
21 #define _UNILATERAL_NEWTON_IMPACT_H_
23 #include <mbsim/constitutive_laws/generalized_impact_law.h>
51 virtual double project(
double la,
double gdn,
double gda,
double r,
double laMin=0);
52 virtual fmatvec::Vec diff(
double la,
double gdn,
double gda,
double r,
double laMin=0);
53 virtual double solve(
double G,
double gdn,
double gda);
54 virtual bool isFulfilled(
double la,
double gdn,
double gda,
double tolla,
double tolgd,
double laMin=0);
55 virtual void initializeUsingXML(xercesc::DOMElement *element);
56 virtual std::string
getType()
const {
return "UnilateralNewtonImpact"; }
60 double epsilon, gd_limit;
UnilateralNewtonImpact(double epsilon_=0)
constructor
Definition: unilateral_newton_impact.h:38
basic unilateral force law on velocity level for constraint description
Definition: unilateral_newton_impact.h:33
basic force law on velocity level for constraint description
Definition: generalized_impact_law.h:32
UnilateralNewtonImpact(double epsilon_, double gd_limit_)
constructor
Definition: unilateral_newton_impact.h:43
virtual ~UnilateralNewtonImpact()
destructor
Definition: unilateral_newton_impact.h:48
virtual std::string getType() const
Definition: unilateral_newton_impact.h:56