Simbody
3.5
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00001 #ifndef SimTK_SIMBODY_CONSTRAINT_POINT_ON_PLANE_CONTACT_H_ 00002 #define SimTK_SIMBODY_CONSTRAINT_POINT_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 // POINT ON PLANE CONTACT 00036 //============================================================================== 00037 00087 class SimTK_SIMBODY_EXPORT Constraint::PointOnPlaneContact 00088 : public Constraint { 00089 public: 00090 // no default constructor 00091 00092 //------------------------------------------------------------------------------ 00108 PointOnPlaneContact(MobilizedBody& planeBody, 00109 const Transform& defaultPlaneFrame, 00110 MobilizedBody& followerBody, 00111 const Vec3& defaultFollowerPoint); 00112 00115 PointOnPlaneContact() {} 00116 00120 PointOnPlaneContact& 00121 setDefaultPlaneFrame(const Transform& defaultPlaneFrame); 00125 PointOnPlaneContact& 00126 setDefaultFollowerPoint(const Vec3& defaultFollowerPoint); 00127 00129 MobilizedBodyIndex getPlaneMobilizedBodyIndex() const; 00131 MobilizedBodyIndex getFollowerMobilizedBodyIndex() const; 00132 00135 const Transform& getDefaultPlaneFrame() const; 00138 const Vec3& getDefaultFollowerPoint() const; 00142 //------------------------------------------------------------------------------ 00150 00155 PointOnPlaneContact& setPlaneDisplayHalfWidth(Real halfWidth); 00160 PointOnPlaneContact& setPointDisplayRadius(Real radius); 00164 Real getPlaneDisplayHalfWidth() const; 00168 Real getPointDisplayRadius() const; 00172 //------------------------------------------------------------------------------ 00187 00193 const Transform& getPlaneFrame(const State& state) const; 00194 const Vec3& getFollowerPoint(const State& state) const; 00198 //------------------------------------------------------------------------------ 00207 Real getPositionError(const State& state) const; 00208 00218 Vec3 getVelocityErrors(const State& state) const; 00219 00223 Vec3 getAccelerationErrors(const State& state) const; 00224 00231 Vec3 getMultipliers(const State& state) const; 00232 00237 Vec3 getForceOnFollowerPoint(const State& state) const; // hide from Doxygen 00241 SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS 00242 (PointOnPlaneContact, PointOnPlaneContactImpl, Constraint); 00244 }; 00245 00246 } // namespace SimTK 00247 00248 #endif // SimTK_SIMBODY_CONSTRAINT_POINT_ON_PLANE_CONTACT_H_ 00249 00250 00251