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spatial_coulomb_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 _SPATIAL_COULOMB_IMPACT_H_
21 #define _SPATIAL_COULOMB_IMPACT_H_
22 
23 #include <mbsim/constitutive_laws/friction_impact_law.h>
24 
25 namespace MBSim {
26 
33  public:
37  SpatialCoulombImpact(double mu_=0) : mu(mu_) { }
38 
42  virtual ~SpatialCoulombImpact() { }
43 
44  /* INHERITED INTERFACE */
45  virtual fmatvec::Vec project(const fmatvec::Vec& la, const fmatvec::Vec& gdn, const fmatvec::Vec& gda, double laN, double r);
46  virtual fmatvec::Mat diff(const fmatvec::Vec& la, const fmatvec::Vec& gdn, const fmatvec::Vec& gda, double laN, double r);
47  virtual fmatvec::Vec solve(const fmatvec::SqrMat& G, const fmatvec::Vec& gdn, const fmatvec::Vec& gda, double laN);
48  virtual bool isFulfilled(const fmatvec::Vec& la, const fmatvec::Vec& gdn, const fmatvec::Vec& gda, double laN, double tolla, double tolgd);
49  virtual int isSticking(const fmatvec::Vec& la, const fmatvec::Vec& gdn, const fmatvec::Vec& gda, double laN, double laTol, double gdTol);
50  virtual int getFrictionDirections() { return 2; }
51  virtual void initializeUsingXML(xercesc::DOMElement *element);
52  virtual std::string getType() const { return "SpatialCoulombImpact"; }
53  /***************************************************/
54 
55  void setFrictionCoefficient(double mu_) { mu = mu_; }
56  double getFrictionCoefficient(double gd) { return mu; }
57 
58  protected:
59  double mu;
60  };
61 
62 }
63 
64 #endif
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

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