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point_planewithfrustum.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_PLANEWITHFRUSTUM_H_
21 #define _CONTACT_KINEMATICS_POINT_PLANEWITHFRUSTUM_H_
22 
23 #include "contact_kinematics.h"
24 #include "mbsim/mbsim_event.h"
25 
26 namespace MBSim {
27 
28  class Point;
29  class PlaneWithFrustum;
30 
37  public:
39 
40  /* INHERITED INTERFACE */
41  virtual void assignContours(const std::vector<Contour*> &contour);
42  virtual void updateg(double &g, std::vector<ContourFrame*> &cFrame, int index = 0);
43  virtual void updatewb(fmatvec::Vec &wb, double g, std::vector<ContourFrame*> &cFrame) { throw MBSimError("(ContactKinematicsPointPlaneWithFrustum::updatewb): Not implemented!"); };
44  /***************************************************/
45 
46  private:
50  int ipoint, iplane;
51 
55  double rho, h;
56  double rTop, rFrustumTop, rFrustumPlane, rPlane;
57  fmatvec::Vec3 ET, EP, MT, MP;
58  fmatvec::Vec3 nFrustum, tFrustum;
59 
64  PlaneWithFrustum *plane;
65 
66  };
67 
68 }
69 
70 #endif /* _CONTACT_KINEMATICS_POINT_PLANEWITHFRUSTUM_H_ */
71 
double rho
static contour parameter
Definition: point_planewithfrustum.h:55
int ipoint
contour index
Definition: point_planewithfrustum.h:43
virtual void assignContours(const std::vector< Contour * > &contour)
treats ordering of contours
Definition: point_planewithfrustum.cc: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_planewithfrustum.cc:92
pairing point to plane
Definition: point_planewithfrustum.h:36
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_planewithfrustum.h:43
Point * point
contour classes
Definition: point_planewithfrustum.h:63
plane without borders and a frustum on reference kos
Definition: planewithfrustum.h:34
basic error class for mbsim
Definition: mbsim_event.h:38
basic class for contact kinematical calculations
Definition: contact_kinematics.h:39
most primitive contour: the point (no extention)
Definition: point.h:35

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