point_polynomialfrustum.h

/* Copyright (C) 2004-2012 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_POLYNOMIALFRUSTUM_H_
#define POINT_POLYNOMIALFRUSTUM_H_
 
#include "contact_kinematics.h"
 
#include <mbsim/contours/polynomial_frustum.h>
#include <mbsim/contours/point.h>
#include <mbsim/numerics/nonlinear_algebra/multi_dimensional_newton_method.h>
 
namespace MBSim {
 
  class projectPointAlongNormal : public Function<fmatvec::Vec(fmatvec::Vec)> {
    public:
      projectPointAlongNormal(PolynomialFrustum * frustum);
 
      ~projectPointAlongNormal() override;
 
      void setUpSystemParamters(const fmatvec::Vec3 & referencePoint_, const double & phi_);
 
      fmatvec::Vec operator()(const fmatvec::Vec &xin) override;
 
    protected:
      PolynomialFrustum * frustum;
 
      fmatvec::Vec3 referencePoint;
 
      double phi;
  };
 
  class projectPointAlongNormalJacobian : public NewtonJacobianFunction {
    public:
      projectPointAlongNormalJacobian(PolynomialFrustum * frustum);
 
      ~projectPointAlongNormalJacobian() override;
 
      void setUpSystemParamters(const fmatvec::Vec3 & referencePoint_, const double & phi_);
 
      fmatvec::SqrMat operator()(const fmatvec::Vec &xin) override;
 
    protected:
      PolynomialFrustum * frustum;
 
      fmatvec::Vec3 referencePoint;
 
      double phi;
  };
 
 
  class ContactKinematicsPointPolynomialFrustum : public MBSim::ContactKinematics {
    public:
      ContactKinematicsPointPolynomialFrustum();
      ~ContactKinematicsPointPolynomialFrustum() override;
 
      /* INHERITED INTERFACE OF CONTACTKINEAMTICS */
      void assignContours(const std::vector<Contour*> &contour) override;
      void updateg(SingleContact &contact, int i=0) override;
 
    protected:
      int ipoint{-1};
 
      int ifrustum{-1};
 
      Point *point{nullptr};
 
      PolynomialFrustum *frustum{nullptr};
 
      double signh{1};
 
      MBSim::projectPointAlongNormal * funcProjectAlongNormal{nullptr};
 
      MBSim::MultiDimensionalNewtonMethod newtonProjectAlongNormal;
 
      MBSim::projectPointAlongNormalJacobian * jacobianProjectAlongNormal{nullptr};
 
      GlobalResidualCriteriaFunction criteriaProjectAlongNormal;
 
      MBSim::StandardDampingFunction dampingProjectAlongNormal;
 
  };
 
} /* namespace MBSim */
#endif /* POINT_POLYNOMIALFRUSTUM_H_ */