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bilateral_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 _BILATERAL_IMPACT_H_
21 #define _BILATERAL_IMPACT_H_
22 
23 #include <mbsim/constitutive_laws/generalized_impact_law.h>
24 
25 namespace MBSim {
26 
33  public:
38 
42  virtual ~BilateralImpact() { }
43 
44  /* INHERITED INTERFACE */
45  virtual double project(double la, double gdn, double gda, double r, double laMin=0);
46  virtual fmatvec::Vec diff(double la, double gdn, double gda, double r, double laMin=0);
47  virtual double solve(double G, double gdn, double gda);
48  virtual bool isFulfilled(double la, double gdn, double gda, double tolla, double tolgd, double laMin=0);
49 
50  virtual std::string getType() const { return "BilateralImpact"; }
51  };
52 
53 }
54 
55 #endif
virtual std::string getType() const
Definition: bilateral_impact.h:50
virtual ~BilateralImpact()
destructor
Definition: bilateral_impact.h:42
basic bilateral force law on velocity level for constraint description
Definition: bilateral_impact.h:32
basic force law on velocity level for constraint description
Definition: generalized_impact_law.h:32
BilateralImpact()
constructor
Definition: bilateral_impact.h:37

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