contact_utils.h

/* Copyright (C) 2004-2009 MBSim Development Team
 *
 * This library is free software; you can redistribute it and/or 
 * modify it under the terms of the GNU Lesser General Public 
 * License as published by the Free Software Foundation; either 
 * version 2.1 of the License, or (at your option) any later version. 
 *  
 * This library is distributed in the hope that it will be useful, 
 * but WITHOUT ANY WARRANTY; without even the implied warranty of 
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU 
 * Lesser General Public License for more details. 
 *  
 * You should have received a copy of the GNU Lesser General Public 
 * License along with this library; if not, write to the Free Software 
 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301 USA
 *
 * Contact: martin.o.foerg@googlemail.com
 */
 
#ifndef _CONTACT_UTILS_H_
#define _CONTACT_UTILS_H_
 
//#include "mbsim/contours/contour_interpolation.h"
//#include "mbsim/dynamic_system_solver.h"
#include "fmatvec/fmatvec.h"
 
//#include <vector>
 
namespace MBSim {
 
  class ContactKinematics;
 
  double computeAngleOnUnitCircle(const fmatvec::Vec3& r);
 
  fmatvec::Vec2 computeAnglesOnUnitSphere(const fmatvec::Vec3& r);
 
  fmatvec::Vec3 orthonormal(const fmatvec::Vec3 &n);
 
  ContactKinematics* findContactPairingRigidRigid(const std::type_info &contour0, const std::type_info &contour1);
 
//  /*!
//   * \brief apply contact between ContourInterpolation surfaces, using node-to-surface pairings, with both as master
//   * \author Roland Zander
//   * \date 2009-07-14 some comments (Thorsten Schindler)
//   */
//  template <class T>
//    void ContactContourInterpolation(DynamicSystemSolver *ds, T *contact, ContourInterpolation *contour0, ContourInterpolation *contour1) {
//      ContactContourInterpolation(ds,contact,contour0,contour1,0);
//    }
//
//  /*!
//   * \brief apply contact between ContourInterploation surfaces, using node-to-surface pairings, defining master contour 1 or 2, default 0 for both
//   * \author Roland Zander
//   * \date 2009-07-14 some comments (Thorsten Schindler)
//   */
//  template <class T>
//    void ContactContourInterpolation(DynamicSystemSolver *ds, const T *contact, ContourInterpolation *contour0, ContourInterpolation *contour1, int master) {
//      ContourInterpolation *contour[2];
//      contour[0] = contour0;
//      contour[1] = contour1;
//      std::string contactName = contact->getName();
//
//      int cStart, cEnd;
//      switch(master) {
//        case 0: cStart = 0; cEnd = 1; break;
//        case 1: cStart = 1; cEnd = 1; break;
//        case 2: cStart = 0; cEnd = 0; break;
//      }
//
//      for(int c = cStart;c<cEnd+1;c++) { // loop with respect to contours
//        int numberOfPoints = contour[c]->getNPoints();
//        char contourName;
//        switch(c) {
//          case 0: contourName = 'A';break;
//          case 1: contourName = 'B';break;
//        }
//        for(int i = 0;i<numberOfPoints; i++) { // use all points
//          std::stringstream number;
//          std::string name = contactName + number.str();
//
//          T *newContact = new T( contact , name );
//
//          newContact->connect(contour[c]->getPoint(i),contour[1-c]);
//          ds->addLink(newContact);
//        }
//      }
//    }
 
}
 
#endif /* _CONTACT_UTILS_H_ */