Simbody  3.5
Constraint_PointOnPlaneContact.h
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1 #ifndef SimTK_SIMBODY_CONSTRAINT_POINT_ON_PLANE_CONTACT_H_
2 #define SimTK_SIMBODY_CONSTRAINT_POINT_ON_PLANE_CONTACT_H_
3 
4 /* -------------------------------------------------------------------------- *
5  * Simbody(tm) *
6  * -------------------------------------------------------------------------- *
7  * This is part of the SimTK biosimulation toolkit originating from *
8  * Simbios, the NIH National Center for Physics-Based Simulation of *
9  * Biological Structures at Stanford, funded under the NIH Roadmap for *
10  * Medical Research, grant U54 GM072970. See https://simtk.org/home/simbody. *
11  * *
12  * Portions copyright (c) 2014 Stanford University and the Authors. *
13  * Authors: Michael Sherman *
14  * Contributors: *
15  * *
16  * Licensed under the Apache License, Version 2.0 (the "License"); you may *
17  * not use this file except in compliance with the License. You may obtain a *
18  * copy of the License at http://www.apache.org/licenses/LICENSE-2.0. *
19  * *
20  * Unless required by applicable law or agreed to in writing, software *
21  * distributed under the License is distributed on an "AS IS" BASIS, *
22  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. *
23  * See the License for the specific language governing permissions and *
24  * limitations under the License. *
25  * -------------------------------------------------------------------------- */
26 
31 
32 namespace SimTK {
33 
34 //==============================================================================
35 // POINT ON PLANE CONTACT
36 //==============================================================================
37 
88 : public Constraint {
89 public:
90  // no default constructor
91 
92 //------------------------------------------------------------------------------
109  const Transform& defaultPlaneFrame,
110  MobilizedBody& followerBody,
111  const Vec3& defaultFollowerPoint);
112 
116 
121 setDefaultPlaneFrame(const Transform& defaultPlaneFrame);
126 setDefaultFollowerPoint(const Vec3& defaultFollowerPoint);
127 
129 MobilizedBodyIndex getPlaneMobilizedBodyIndex() const;
131 MobilizedBodyIndex getFollowerMobilizedBodyIndex() const;
132 
135 const Transform& getDefaultPlaneFrame() const;
138 const Vec3& getDefaultFollowerPoint() const;
142 //------------------------------------------------------------------------------
150 
155 PointOnPlaneContact& setPlaneDisplayHalfWidth(Real halfWidth);
160 PointOnPlaneContact& setPointDisplayRadius(Real radius);
164 Real getPlaneDisplayHalfWidth() const;
168 Real getPointDisplayRadius() const;
172 //------------------------------------------------------------------------------
187 
193 const Transform& getPlaneFrame(const State& state) const;
194 const Vec3& getFollowerPoint(const State& state) const;
198 //------------------------------------------------------------------------------
207 Real getPositionError(const State& state) const;
208 
218 Vec3 getVelocityErrors(const State& state) const;
219 
223 Vec3 getAccelerationErrors(const State& state) const;
224 
231 Vec3 getMultipliers(const State& state) const;
232 
237 Vec3 getForceOnFollowerPoint(const State& state) const; // hide from Doxygen
242  (PointOnPlaneContact, PointOnPlaneContactImpl, Constraint);
244 };
245 
246 } // namespace SimTK
247 
248 #endif // SimTK_SIMBODY_CONSTRAINT_POINT_ON_PLANE_CONTACT_H_
249 
250 
251 
This is for arrays indexed by mobilized body number within a subsystem (typically the SimbodyMatterSu...
This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition: Assembler.h:37
SimTK_Real Real
This is the default compiled-in floating point type for SimTK, either float or double.
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:593
PointOnPlaneContact()
Default constructor creates an empty handle that can be used to reference any PointOnPlaneContact Con...
Definition: Constraint_PointOnPlaneContact.h:115
This object is intended to contain all state information for a SimTK::System, except topological info...
Definition: State.h:276
(Advanced) This is the underlying constraint for unilateral contact with friction but must be combine...
Definition: Constraint_PointOnPlaneContact.h:87
#define SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(DERIVED, DERIVED_IMPL, PARENT)
Definition: PrivateImplementation.h:343
This defines the base Constraint class and related classes, which are used to specify limitations on ...
#define SimTK_SIMBODY_EXPORT
Definition: Simbody/include/simbody/internal/common.h:72
A MobilizedBody is Simbody's fundamental body-and-joint object used to parameterize a system's motion...
Definition: MobilizedBody.h:167
This is the base class for all Constraint classes, which is just a handle for the underlying hidden i...
Definition: Constraint.h:66