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sphere_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_SPHERE_PLANE_H_
21 #define _CONTACT_KINEMATICS_SPHERE_PLANE_H_
22 
23 #include "contact_kinematics.h"
24 
25 namespace MBSim {
26 
27  class Sphere;
28  class Plane;
29 
37  public:
38  /* INHERITED INTERFACE */
39  virtual void assignContours(const std::vector<Contour*> &contour);
40  virtual void updateg(double &g, std::vector<ContourFrame*> &cFrame, int index = 0);
41  virtual void updatewb(fmatvec::Vec &wb, double g, std::vector<ContourFrame*> &cFrame);
42  /***************************************************/
43 
44  private:
48  int isphere, iplane;
49 
54  Plane *plane;
55 
56  };
57 
58 }
59 
60 #endif
61 
virtual void assignContours(const std::vector< Contour * > &contour)
treats ordering of contours
Definition: sphere_plane.cc:32
Sphere * sphere
contour classes
Definition: sphere_plane.h:53
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: sphere_plane.cc:45
pairing sphere to plane
Definition: sphere_plane.h:36
sphere
Definition: sphere.h:36
int isphere
contour index
Definition: sphere_plane.h:48
plane without borders
Definition: plane.h:38
basic class for contact kinematical calculations
Definition: contact_kinematics.h:39
virtual void updatewb(fmatvec::Vec &wb, double g, std::vector< ContourFrame * > &cFrame)
compute acceleration in terms of contour parameters for event driven integration
Definition: sphere_plane.cc:61

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