sphere_spatialcontour.h

/* Copyright (C) 2004-2020 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_SPHERE_SPATIALCONTOUR_H_
#define _CONTACT_KINIMATICS_SPHERE_SPATIALCONTOUR_H_
 
#include "contact_kinematics.h"
 
namespace MBSim {
 
  class Sphere;
  class SpatialContour;
  class FuncPairSpatialContourSphere;
 
  class ContactKinematicsSphereSpatialContour : public ContactKinematics {
    public:
      ContactKinematicsSphereSpatialContour() = default;
      ~ContactKinematicsSphereSpatialContour();
 
      /* INHERITED INTERFACE */
      void calcisSize() override { isSize = 2*maxNumContacts; }
      void assignContours(const std::vector<Contour*> &contour) override;
      void setInitialGuess(const fmatvec::MatV &zeta0_) override;
      void search() override;
      void updateg(SingleContact &contact, int i=0) override;
      /***************************************************/
 
    private:
      int isphere, ispatialcontour;
 
      Sphere *sphere;
      SpatialContour *spatialcontour;
 
      MBSim::FuncPairSpatialContourSphere *func;
  };
 
}
 
#endif