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unilateral_newton_impact.h
1 /* Copyright (C) 2004-2014 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 _UNILATERAL_NEWTON_IMPACT_H_
21 #define _UNILATERAL_NEWTON_IMPACT_H_
22 
23 #include <mbsim/constitutive_laws/generalized_impact_law.h>
24 
25 namespace MBSim {
26 
34  public:
38  UnilateralNewtonImpact(double epsilon_=0) : epsilon(epsilon_), gd_limit(1e-2) { }
39 
43  UnilateralNewtonImpact(double epsilon_, double gd_limit_) : epsilon(epsilon_), gd_limit(gd_limit_) { }
44 
49 
50  /* INHERITED INTERFACE */
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"; }
57  /***************************************************/
58 
59  protected:
60  double epsilon, gd_limit;
61  };
62 
63 }
64 
65 #endif
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

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