20 #ifndef _CONTACT_KINEMATICS_POINT_PLANEWITHFRUSTUM_H_
21 #define _CONTACT_KINEMATICS_POINT_PLANEWITHFRUSTUM_H_
23 #include "contact_kinematics.h"
24 #include "mbsim/mbsim_event.h"
29 class PlaneWithFrustum;
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!"); };
56 double rTop, rFrustumTop, rFrustumPlane, rPlane;
57 fmatvec::Vec3 ET, EP, MT, MP;
58 fmatvec::Vec3 nFrustum, tFrustum;
plane without borders and a frustum on reference kos
Definition: planewithfrustum.h:34
basic error class for mbsim
Definition: mbsim_event.h:38
most primitive contour: the point (no extention)
Definition: point.h:35