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point_plane.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_PLANE_H_
21 #define _CONTACT_KINEMATICS_POINT_PLANE_H_
22 
23 #include "contact_kinematics.h"
24 
25 namespace MBSim {
26 
27  class Point;
28  class Plane;
29 
36  public:
37  /* INHERITED INTERFACE */
38  virtual void assignContours(const std::vector<Contour*> &contour);
39  virtual void updateg(double &g, std::vector<ContourFrame*> &cFrame, int index = 0);
40  virtual void updatewb(fmatvec::Vec &wb, double g, std::vector<ContourFrame*> &cFrame);
41  /***************************************************/
42 
43  protected:
47  int ipoint, iplane;
48 
53  Plane *plane;
54 
55  };
56 
57 }
58 
59 #endif /* _CONTACT_KINEMATICS_POINT_PLANE_H_ */
60 
int ipoint
contour index
Definition: point_plane.h:47
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_plane.cc:62
Point * point
contour classes
Definition: point_plane.h:52
virtual void assignContours(const std::vector< Contour * > &contour)
treats ordering of contours
Definition: point_plane.cc:31
plane without borders
Definition: plane.h:38
pairing point to plane
Definition: point_plane.h:35
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_plane.cc:46

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