20 #ifndef _SPATIAL_COULOMB_IMPACT_H_
21 #define _SPATIAL_COULOMB_IMPACT_H_
23 #include <mbsim/constitutive_laws/friction_impact_law.h>
50 virtual int getFrictionDirections() {
return 2; }
51 virtual void initializeUsingXML(xercesc::DOMElement *element);
52 virtual std::string
getType()
const {
return "SpatialCoulombImpact"; }
55 void setFrictionCoefficient(
double mu_) { mu = mu_; }
56 double getFrictionCoefficient(
double gd) {
return mu; }
SpatialCoulombImpact(double mu_=0)
constructor
Definition: spatial_coulomb_impact.h:37
virtual std::string getType() const
Definition: spatial_coulomb_impact.h:52
basic friction force law on velocity level for constraint description
Definition: friction_impact_law.h:32
basic spatial friction force law on velocity level for constraint description
Definition: spatial_coulomb_impact.h:32
virtual ~SpatialCoulombImpact()
destructor
Definition: spatial_coulomb_impact.h:42