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circle_planarcontour.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
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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
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17  * Contact: martin.o.foerg@googlemail.com
18  */
19 
20 #ifndef _CONTACT_KINEMATICS_CIRCLEPLANARCONTOUR_H_
21 #define _CONTACT_KINEMATICS_CIRCLEPLANARCONTOUR_H_
22 
23 #include "contact_kinematics.h"
24 
25 namespace MBSim {
26 
27  class Circle;
28  class FuncPairPlanarContourCircle;
29 
36  public:
40  ContactKinematicsCirclePlanarContour() : icircle(0), iplanarcontour(0), circle(NULL), planarcontour(NULL), func(NULL), searchAllCP(false) { }
41 
46 
47  /* INHERITED INTERFACE */
48  virtual void assignContours(const std::vector<Contour*> &contour);
49  virtual void updateg(double &g, std::vector<ContourFrame*> &cFrame, int index = 0);
50  virtual void updatewb(fmatvec::Vec &wb, double g, std::vector<ContourFrame*> &cFrame);
51  /***************************************************/
52 
53  void setSearchAllContactPoints(bool searchAllCP_=true) { searchAllCP = searchAllCP_; }
54 
55  private:
59  int icircle, iplanarcontour;
60 
65  Contour *planarcontour;
66 
71 
72  bool searchAllCP;
73  };
74 
75 }
76 
77 #endif
78 
pairing outer circle side to planar contour
Definition: circle_planarcontour.h:35
virtual void updatewb(fmatvec::Vec &wb, double g, std::vector< ContourFrame * > &cFrame)
compute acceleration in terms of contour parameters for event driven integration
Definition: circle_planarcontour.cc:95
int icircle
contour index
Definition: circle_planarcontour.h:59
virtual ~ContactKinematicsCirclePlanarContour()
destructor
Definition: circle_planarcontour.cc:34
basic class for contour definition for rigid (which do not know about their shape) and flexible (they...
Definition: contour.h:40
Circle * circle
contour classes
Definition: circle_planarcontour.h:64
ContactKinematicsCirclePlanarContour()
constructor
Definition: circle_planarcontour.h:40
circular contour with contact possibility from outside and inside and binormal in direction of the th...
Definition: circle.h:36
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: circle_planarcontour.cc:66
FuncPairPlanarContourCircle * func
root function
Definition: circle_planarcontour.h:70
basic class for contact kinematical calculations
Definition: contact_kinematics.h:39
root function for pairing PlanarContour and Circle
Definition: funcpair_planarcontour_circle.h:34
virtual void assignContours(const std::vector< Contour * > &contour)
treats ordering of contours
Definition: circle_planarcontour.cc:38

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