Simbody
3.5
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00001 #ifndef SimTK_SIMBODY_CONSTRAINT_SPHERE_ON_PLANE_CONTACT_H_ 00002 #define SimTK_SIMBODY_CONSTRAINT_SPHERE_ON_PLANE_CONTACT_H_ 00003 00004 /* -------------------------------------------------------------------------- * 00005 * Simbody(tm) * 00006 * -------------------------------------------------------------------------- * 00007 * This is part of the SimTK biosimulation toolkit originating from * 00008 * Simbios, the NIH National Center for Physics-Based Simulation of * 00009 * Biological Structures at Stanford, funded under the NIH Roadmap for * 00010 * Medical Research, grant U54 GM072970. See https://simtk.org/home/simbody. * 00011 * * 00012 * Portions copyright (c) 2014 Stanford University and the Authors. * 00013 * Authors: Michael Sherman * 00014 * Contributors: * 00015 * * 00016 * Licensed under the Apache License, Version 2.0 (the "License"); you may * 00017 * not use this file except in compliance with the License. You may obtain a * 00018 * copy of the License at http://www.apache.org/licenses/LICENSE-2.0. * 00019 * * 00020 * Unless required by applicable law or agreed to in writing, software * 00021 * distributed under the License is distributed on an "AS IS" BASIS, * 00022 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * 00023 * See the License for the specific language governing permissions and * 00024 * limitations under the License. * 00025 * -------------------------------------------------------------------------- */ 00026 00030 #include "simbody/internal/Constraint.h" 00031 00032 namespace SimTK { 00033 00034 //============================================================================== 00035 // SPHERE ON PLANE CONTACT 00036 //============================================================================== 00086 class SimTK_SIMBODY_EXPORT Constraint::SphereOnPlaneContact 00087 : public Constraint { 00088 public: 00089 // no default constructor 00090 00091 //------------------------------------------------------------------------------ 00104 00129 SphereOnPlaneContact( MobilizedBody& planeMobod, 00130 const Transform& defaultPlaneFrame, 00131 MobilizedBody& sphereMobod, 00132 const Vec3& defaultSphereCenter, 00133 Real defaultSphereRadius, 00134 bool enforceRolling); 00135 00138 SphereOnPlaneContact() {} 00139 00143 const MobilizedBody& getPlaneMobilizedBody() const; 00144 00148 const MobilizedBody& getSphereMobilizedBody() const; 00149 00153 bool isEnforcingRolling() const; 00154 00155 00159 SphereOnPlaneContact& 00160 setDefaultPlaneFrame(const Transform& defaultPlaneFrame); 00164 SphereOnPlaneContact& 00165 setDefaultSphereCenter(const Vec3& defaultSphereCenter); 00169 SphereOnPlaneContact& 00170 setDefaultSphereRadius(Real defaultSphereRadius); 00171 00172 00175 const Transform& getDefaultPlaneFrame() const; 00178 const Vec3& getDefaultSphereCenter() const; 00181 Real getDefaultSphereRadius() const; 00184 //------------------------------------------------------------------------------ 00196 SphereOnPlaneContact& setPlaneDisplayHalfWidth(Real halfWidth); 00200 Real getPlaneDisplayHalfWidth() const; 00204 //------------------------------------------------------------------------------ 00219 00224 const SphereOnPlaneContact& 00225 setPlaneFrame(State& state, const Transform& planeFrame) const; 00226 00232 const SphereOnPlaneContact& 00233 setSphereCenter(State& state, const Vec3& sphereCenter) const; 00234 00238 const SphereOnPlaneContact& 00239 setSphereRadius(State& state, Real sphereRadius) const; 00240 00246 const Transform& getPlaneFrame(const State& state) const; 00250 const Vec3& getSphereCenter(const State& state) const; 00253 Real getSphereRadius(const State& state) const; 00256 //------------------------------------------------------------------------------ 00266 Real getPositionError(const State& state) const; 00267 00277 Vec3 getVelocityErrors(const State& state) const; 00278 00284 Vec3 getAccelerationErrors(const State& state) const; 00285 00296 Vec3 getMultipliers(const State& state) const; 00297 00306 Vec3 findForceOnSphereInG(const State& state) const; 00307 00315 Vec3 findContactPointInG(const State& state) const; 00316 00324 Real findSeparation(const State& state) const; // hide from Doxygen 00328 SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS 00329 (SphereOnPlaneContact, SphereOnPlaneContactImpl, Constraint); 00331 }; 00332 00333 } // namespace SimTK 00334 00335 #endif // SimTK_SIMBODY_CONSTRAINT_SPHERE_ON_PLANE_CONTACT_H_ 00336 00337 00338