contour2s_flexible.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
 */
 
#ifndef _CONTOUR2SFLEXIBLE_H_
#define _CONTOUR2SFLEXIBLE_H_
 
#include "mbsimFlexibleBody/contours/contour_2s_neutral_factory.h"
 
namespace MBSim {
  class ContactKinematics;
}
 
namespace MBSimFlexibleBody {
 
  class Contour2sFlexible : public MBSim::Contour2s {
    public:
      Contour2sFlexible(const std::string &name) : Contour2s(name) {}
 
      /* INHERITED INTERFACE OF ELEMENT */
      /***************************************************/
 
      /* INHERITED INTERFACE OF CONTOUR */
      virtual void updateKinematicsForFrame(MBSim::ContourPointData &cp, MBSim::Frame::Feature ff) { neutral->updateKinematicsForFrame(cp,ff); }
      virtual void updateJacobiansForFrame(MBSim::ContourPointData &cp, int j = 0) { neutral->updateJacobiansForFrame(cp); }
      /***************************************************/
 
      MBSim::ContactKinematics * findContactPairingWith(const std::type_info &type0, const std::type_info &type1) {
        return findContactPairingFlexible(type0, type1);
      }
 
      void setNeutral(Contour2sNeutralFactory* neutral_) {neutral = neutral_;}
 
    protected:
      Contour2sNeutralFactory* neutral;
 
  };
 
}
 
#endif /* _CONTOUR2SFLEXIBLE_H_ */