point_planewithfrustum.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_KINEMATICS_POINT_PLANEWITHFRUSTUM_H_
#define _CONTACT_KINEMATICS_POINT_PLANEWITHFRUSTUM_H_
 
#include "contact_kinematics.h"
 
namespace MBSim {
 
  class Point;
  class PlaneWithFrustum; 
 
  class ContactKinematicsPointPlaneWithFrustum : public ContactKinematics {
    public:
      ContactKinematicsPointPlaneWithFrustum();
 
      /* INHERITED INTERFACE */
      void assignContours(const std::vector<Contour*> &contour) override;
      void updateg(SingleContact &contact, int i=0) override;
      /***************************************************/
 
    private:
      int ipoint, iplane;
 
      double rho, h;
      double rTop, rFrustumTop, rFrustumPlane, rPlane;
      fmatvec::Vec3 ET, EP, MT, MP;
      fmatvec::Vec3 nFrustum, tFrustum;
 
      Point *point;
      PlaneWithFrustum *plane;
 
  };
 
}
 
#endif /* _CONTACT_KINEMATICS_POINT_PLANEWITHFRUSTUM_H_ */