Simbody  3.5
Constraint_SphereOnSphereContact.h
Go to the documentation of this file.
00001 #ifndef SimTK_SIMBODY_CONSTRAINT_SPHERE_ON_SPHERE_CONTACT_H_
00002 #define SimTK_SIMBODY_CONSTRAINT_SPHERE_ON_SPHERE_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 SPHERE CONTACT
00036 //==============================================================================
00102 class SimTK_SIMBODY_EXPORT Constraint::SphereOnSphereContact
00103 :   public Constraint  {
00104 public:
00105     // no default constructor
00106 
00107 //------------------------------------------------------------------------------
00123 
00156 SphereOnSphereContact(  MobilizedBody&      mobod_F, 
00157                         const Vec3&         defaultCenterOnF, 
00158                         Real                defaultRadiusOnF, 
00159                         MobilizedBody&      mobod_B, 
00160                         const Vec3&         defaultCenterOnB,
00161                         Real                defaultRadiusOnB,
00162                         bool                enforceRolling);
00163     
00166 SphereOnSphereContact() {}
00167 
00171 const MobilizedBody& getMobilizedBodyF() const;
00172 
00176 const MobilizedBody& getMobilizedBodyB() const;
00177 
00181 bool isEnforcingRolling() const;
00182 
00187 SphereOnSphereContact& 
00188 setDefaultCenterOnF(const Vec3& defaultCenter);
00193 SphereOnSphereContact& 
00194 setDefaultRadiusOnF(Real defaultRadius);
00199 SphereOnSphereContact& 
00200 setDefaultCenterOnB(const Vec3& defaultCenter);
00205 SphereOnSphereContact& 
00206 setDefaultRadiusOnB(Real defaultRadius);
00207 
00212 const Vec3& getDefaultCenterOnF() const;
00217 Real getDefaultRadiusOnF() const;
00222 const Vec3& getDefaultCenterOnB() const;
00227 Real getDefaultRadiusOnB() const;
00230 //------------------------------------------------------------------------------
00238     // nothing yet
00242 //------------------------------------------------------------------------------
00260 
00266 const SphereOnSphereContact& 
00267 setCenterOnF(State& state, const Vec3& sphereCenter) const;
00268 
00272 const SphereOnSphereContact& 
00273 setRadiusOnF(State& state, Real sphereRadius) const;
00274 
00280 const SphereOnSphereContact& 
00281 setCenterOnB(State& state, const Vec3& sphereCenter) const;
00282 
00286 const SphereOnSphereContact& 
00287 setRadiusOnB(State& state, Real sphereRadius) const;
00288 
00293 const Vec3& getCenterOnF(const State& state) const;
00296 Real getRadiusOnF(const State& state) const;
00297 
00302 const Vec3& getCenterOnB(const State& state) const;
00305 Real getRadiusOnB(const State& state) const;
00308 //------------------------------------------------------------------------------
00318 Real getPositionError(const State& state) const;
00319 
00329 Vec3 getVelocityErrors(const State& state) const;
00330 
00336 Vec3 getAccelerationErrors(const State& state) const;
00337 
00348 Vec3 getMultipliers(const State& state) const;
00349 
00359 Vec3 findForceOnSphereBInG(const State& state) const;
00360 
00373 Transform findContactFrameInG(const State& state) const;
00374 
00381 Real findSeparation(const State& state) const; // hide from Doxygen
00385 SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS
00386     (SphereOnSphereContact, SphereOnSphereContactImpl, Constraint);
00388 };
00389 
00390 } // namespace SimTK
00391 
00392 #endif // SimTK_SIMBODY_CONSTRAINT_SPHERE_ON_SPHERE_CONTACT_H_
00393 
00394 
00395 
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Defines