Simbody  3.5
Constraint_PointInPlane.h
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00001 #ifndef SimTK_SIMBODY_CONSTRAINT_POINT_IN_PLANE_H_
00002 #define SimTK_SIMBODY_CONSTRAINT_POINT_IN_PLANE_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) 2007-14 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 //                      CONSTRAINT::  POINT IN PLANE
00036 //==============================================================================
00037 
00047 class SimTK_SIMBODY_EXPORT Constraint::PointInPlane : public Constraint  {
00048 public:
00049 // no default constructor
00050 PointInPlane(MobilizedBody& planeBody_B, 
00051              const UnitVec3& defaultPlaneNormal_B, Real defaultHeight,
00052              MobilizedBody& followerBody_F, const Vec3& defaultFollowerPoint_F);
00053     
00055 PointInPlane() {}
00056 
00057 // These affect only generated decorative geometry for visualization;
00058 // the plane is really infinite in extent with zero depth and the
00059 // point is really of zero radius.
00060 PointInPlane& setPlaneDisplayHalfWidth(Real);
00061 PointInPlane& setPointDisplayRadius(Real);
00062 Real getPlaneDisplayHalfWidth() const;
00063 Real getPointDisplayRadius() const;
00064 
00065 // Defaults for Instance variables.
00066 PointInPlane& setDefaultPlaneNormal(const UnitVec3&);
00067 PointInPlane& setDefaultPlaneHeight(Real);
00068 PointInPlane& setDefaultFollowerPoint(const Vec3&);
00069 
00070 // Stage::Topology
00071 MobilizedBodyIndex getPlaneMobilizedBodyIndex() const;
00072 MobilizedBodyIndex getFollowerMobilizedBodyIndex() const;
00073 
00074 const UnitVec3& getDefaultPlaneNormal() const;
00075 Real            getDefaultPlaneHeight() const;
00076 const Vec3&     getDefaultFollowerPoint() const;
00077 
00078 // Stage::Instance
00079 const UnitVec3& getPlaneNormal(const State&) const;
00080 Real            getPlaneHeight(const State&) const;
00081 const Vec3&     getFollowerPoint(const State&) const;
00082 
00083 // Stage::Position, Velocity
00084 Real getPositionError(const State&) const;
00085 Real getVelocityError(const State&) const;
00086 
00087 // Stage::Acceleration
00088 Real getAccelerationError(const State&) const;
00089 Real getMultiplier(const State&) const;
00090 Real getForceOnFollowerPoint(const State&) const; // in normal direction
00091  // hide from Doxygen
00093 SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS
00094     (PointInPlane, PointInPlaneImpl, Constraint);
00096 };
00097 
00098 
00099 } // namespace SimTK
00100 
00101 #endif // SimTK_SIMBODY_CONSTRAINT_POINT_IN_PLANE_H_
00102 
00103 
00104 
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