circlehollow_cylinderflexible.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: thorsten.schindler@mytum.de
 *          rzander@users.berlios.de
 */
 
#ifndef _CONTACT_KINEMATICS_CIRCLEHOLLOW_CYLINDERFLEXIBLE_H_
#define _CONTACT_KINEMATICS_CIRCLEHOLLOW_CYLINDERFLEXIBLE_H_
 
#include "mbsim/contact_kinematics/contact_kinematics.h"
 
namespace MBSim {
  class CircleHollow;
  class FuncPairContour1sCircleHollow;
}
 
namespace MBSimFlexibleBody {
 
  class CylinderFlexible;
 
  class ContactKinematicsCircleHollowCylinderFlexible : public MBSim::ContactKinematics {
    public:
      ContactKinematicsCircleHollowCylinderFlexible() = default;
 
       ~ContactKinematicsCircleHollowCylinderFlexible() override;
 
      /* INHERITED INTERFACE */
       void assignContours(const std::vector<MBSim::Contour*> &contour) override;
      virtual void updateg(double &g, std::vector<MBSim::Frame*> &cFrame, int index = 0);
      virtual void updatewb(fmatvec::Vec &wb, double g, std::vector<MBSim::Frame*> &cFrame) { throw std::runtime_error("(ContactKinematicsCircleHollowCylinderFlexible::updatewb): Not implemented!"); };
      /***************************************************/
    
    private:
      int icircle, icylinder;
 
      MBSim::CircleHollow *circle;
      CylinderFlexible *cylinder;
 
      MBSim::FuncPairContour1sCircleHollow *func;
 
      bool useLocal {false};
  };
 
}
 
#endif /* _CONTACT_KINEMATICS_CIRCLEHOLLOW_CYLINDERFLEXIBLE_H_ */