sphere_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 SPHERE_POLYNOMIALFRUSTUM_H_
#define SPHERE_POLYNOMIALFRUSTUM_H_
 
#include "contact_kinematics.h"
 
#include <mbsim/contours/polynomial_frustum.h>
#include <mbsim/contours/sphere.h>
#include <mbsim/numerics/nonlinear_algebra/multi_dimensional_newton_method.h>
 
namespace MBSim {
 
  class PolyFurstumSphereContact : public Function<fmatvec::Vec(fmatvec::Vec)> {
    public:
      PolyFurstumSphereContact(const PolynomialFrustum * frustum) : sphereCenter(fmatvec::Vec3()), rS(0.), frustum(frustum) {
      }
 
      ~PolyFurstumSphereContact() override = default;
 
      void setCenter(const fmatvec::Vec3 & sphereCenter_) {
        sphereCenter = sphereCenter_;
        rS = sqrt(sphereCenter(1) * sphereCenter(1) + sphereCenter(2) * sphereCenter(2));
      }
 
      fmatvec::Vec operator()(const fmatvec::Vec &x) override;
 
    protected:
      fmatvec::Vec3 sphereCenter;
 
      double rS;
 
      const PolynomialFrustum * frustum;
  };
 
  class PolyFurstumSphereContactJacobian : public NewtonJacobianFunction {
    public:
      PolyFurstumSphereContactJacobian(const PolynomialFrustum * frustum) : rS(0.), frustum(frustum) {
      }
 
      ~PolyFurstumSphereContactJacobian() override = default;
 
      void setCenter(const fmatvec::Vec3 & sphereCenter_) {
        sphereCenter = sphereCenter_;
        rS = sqrt(sphereCenter(1) * sphereCenter(1) + sphereCenter(2) * sphereCenter(2));
      }
 
      fmatvec::SqrMat operator ()(const fmatvec::Vec & x) override;
 
    protected:
      fmatvec::Vec3 sphereCenter;
 
      double rS;
 
      const PolynomialFrustum * frustum;
  };
 
  class ContactKinematicsSpherePolynomialFrustum : public MBSim::ContactKinematics {
    public:
      ContactKinematicsSpherePolynomialFrustum();
      ~ContactKinematicsSpherePolynomialFrustum() override;
 
      /* INHERITED INTERFACE OF CONTACTKINEAMTICS */
      void assignContours(const std::vector<Contour*> &contour) override;
      void updateg(SingleContact &contact, int i=0) override;
 
    protected:
 
      int isphere{-1};
 
      int ifrustum{-1};
 
      Sphere *sphere{nullptr};
 
      PolynomialFrustum *frustum{nullptr};
 
      MBSim::MultiDimensionalNewtonMethod newton;
 
      /*
       * \brief function for contact search
       */
      PolyFurstumSphereContact * func{nullptr};
 
      PolyFurstumSphereContactJacobian* jacobian{nullptr};
 
      GlobalResidualCriteriaFunction* criteria;
 
      MBSim::StandardDampingFunction* damping;
 
      fmatvec::Vec x;
 
 
 
  };
 
} /* namespace MBSim */
#endif /* SPHERE_POLYNOMIALFRUSTUM_H_ */