20 #ifndef _CONTACT_KINEMATICS_POINT_FRUSTUM_H_
21 #define _CONTACT_KINEMATICS_POINT_FRUSTUM_H_
23 #include "contact_kinematics.h"
24 #include "mbsim/mbsim_event.h"
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!"); }
frustum with axis in direction of second column of contour reference frame
Definition: frustum.h:36
basic error class for mbsim
Definition: mbsim_event.h:38
most primitive contour: the point (no extention)
Definition: point.h:35