Simbody
3.5
|
00001 #ifndef SimTK_SIMBODY_CONSTRAINT_LINE_ON_LINE_CONTACT_H_ 00002 #define SimTK_SIMBODY_CONSTRAINT_LINE_ON_LINE_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 // LINE ON LINE CONTACT 00036 //============================================================================== 00142 class SimTK_SIMBODY_EXPORT Constraint::LineOnLineContact 00143 : public Constraint { 00144 public: 00145 // no default constructor 00146 00147 //------------------------------------------------------------------------------ 00163 00206 LineOnLineContact( MobilizedBody& mobod_F, 00207 const Transform& defaultEdgeFrameF, 00208 Real defaultHalfLengthF, 00209 MobilizedBody& mobod_B, 00210 const Transform& defaultEdgeFrameB, 00211 Real defaultHalfLengthB, 00212 bool enforceRolling); 00213 00216 LineOnLineContact() {} 00217 00221 const MobilizedBody& getMobilizedBodyF() const; 00222 00226 const MobilizedBody& getMobilizedBodyB() const; 00227 00231 bool isEnforcingRolling() const; 00232 00237 LineOnLineContact& 00238 setDefaultEdgeFrameF(const Transform& defaultEdgeFrameF); 00243 LineOnLineContact& 00244 setDefaultHalfLengthF(Real defaultHalfLengthF); 00249 LineOnLineContact& 00250 setDefaultEdgeFrameB(const Transform& defaultEdgeFrameB); 00255 LineOnLineContact& 00256 setDefaultHalfLengthB(Real defaultHalfLengthF); 00257 00262 const Transform& getDefaultEdgeFrameF() const; 00267 Real getDefaultHalfLengthF() const; 00268 00273 const Transform& getDefaultEdgeFrameB() const; 00278 Real getDefaultHalfLengthB() const; 00281 //------------------------------------------------------------------------------ 00289 // no controls yet 00293 //------------------------------------------------------------------------------ 00311 00318 const LineOnLineContact& 00319 setEdgeFrameF(State& state, const Transform& edgeFrameF) const; 00320 00324 const LineOnLineContact& 00325 setHalfLengthF(State& state, Real halfLengthF) const; 00326 00333 const LineOnLineContact& 00334 setEdgeFrameB(State& state, const Transform& edgeFrameB) const; 00335 00339 const LineOnLineContact& 00340 setHalfLengthB(State& state, Real halfLengthB) const; 00341 00345 const Transform& getEdgeFrameF(const State& state) const; 00349 Real getHalfLengthF(const State& state) const; 00350 00354 const Transform& getEdgeFrameB(const State& state) const; 00358 Real getHalfLengthB(const State& state) const; 00361 //------------------------------------------------------------------------------ 00371 Real getPositionError(const State& state) const; 00372 00382 Vec3 getVelocityErrors(const State& state) const; 00383 00389 Vec3 getAccelerationErrors(const State& state) const; 00390 00401 Vec3 getMultipliers(const State& state) const; 00402 00410 Vec3 findForceOnBodyBInG(const State& state) const; 00411 00422 Transform findContactFrameInG(const State& state) const; 00423 00432 void findClosestPointsInG(const State& state, Vec3& Qf, Vec3& Qb, 00433 bool& linesAreParallel) const; 00434 00442 Real findSeparation(const State& state) const; // hide from Doxygen 00446 SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS 00447 (LineOnLineContact, LineOnLineContactImpl, Constraint); 00449 }; 00450 00451 } // namespace SimTK 00452 00453 #endif // SimTK_SIMBODY_CONSTRAINT_LINE_ON_LINE_CONTACT_H_ 00454 00455 00456