friction_impact_law.h

/* Copyright (C) 2004-2014 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 _FRICTION_IMPACT_LAW_H_
#define _FRICTION_IMPACT_LAW_H_
 
#include "mbsim/functions/function.h"
 
namespace MBSim {
 
  class FrictionImpactLaw : public Element {
    public:
      FrictionImpactLaw() : Element(uniqueDummyName(this)) {
        plotFeature[plotRecursive]=false;
      }
 
      ~FrictionImpactLaw() override = default;
 
      /* INTERFACE FOR DERIVED CLASSES */
      virtual fmatvec::Vec project(const fmatvec::Vec& la, const fmatvec::Vec& gdn, const fmatvec::Vec& gda, double laN, double r) = 0;
      virtual fmatvec::Mat diff(const fmatvec::Vec& la, const fmatvec::Vec& gdn, const fmatvec::Vec& gda, double laN, double r) = 0;
      virtual fmatvec::Vec solve(const fmatvec::SqrMat& G, const fmatvec::Vec& gdn, const fmatvec::Vec& gda, double laN) = 0;
      virtual bool isFulfilled(const fmatvec::Vec& la, const fmatvec::Vec& gdn, const fmatvec::Vec& gda, double laN, double tolla, double tolgd) = 0;
      virtual int isSticking(const fmatvec::Vec& la, const fmatvec::Vec& gdn, const fmatvec::Vec& gda, double laN, double laTol, double gdTol) = 0;
      virtual int getFrictionDirections() = 0;
      /***************************************************/
  };
 
}
 
#endif