point_extrusion.h

/* Copyright (C) 2004-2015 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 POINT_EXTRUSION_H_
#define POINT_EXTRUSION_H_
 
#include "mbsim/contact_kinematics/contact_kinematics.h"
 
namespace MBSim {
 
  class Point;
  class FuncPairPlanarContourPoint;
 
  class ContactKinematicsPointExtrusion : public MBSim::ContactKinematics {
    public:
      ContactKinematicsPointExtrusion() { }
      
      ~ContactKinematicsPointExtrusion() override;
 
      /* INHERITED INTERFACE OF CONTACTKINEAMTICS */
      void calcisSize() override { isSize = 1; }
      void assignContours(const std::vector<MBSim::Contour*>& contour) override;
      void search() override;
      void setInitialGuess(const fmatvec::MatV &zeta0_) override;
      void updateg(SingleContact &contact, int i=0) override;
      /***************************************************/
 
    protected:
      int ipoint{0};
      int iextrusion{0};
 
      MBSim::Point *point{0};
      Contour *extrusion{0};
 
      MBSim::FuncPairPlanarContourPoint *func;
  };
 
}
 
#endif