Constraint_SphereOnPlaneContact.h

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#ifndef SimTK_SIMBODY_CONSTRAINT_SPHERE_ON_PLANE_CONTACT_H_
#define SimTK_SIMBODY_CONSTRAINT_SPHERE_ON_PLANE_CONTACT_H_

/* -------------------------------------------------------------------------- *
 *                               Simbody(tm)                                  *
 * -------------------------------------------------------------------------- *
 * This is part of the SimTK biosimulation toolkit originating from           *
 * Simbios, the NIH National Center for Physics-Based Simulation of           *
 * Biological Structures at Stanford, funded under the NIH Roadmap for        *
 * Medical Research, grant U54 GM072970. See https://simtk.org/home/simbody.  *
 *                                                                            *
 * Portions copyright (c) 2014 Stanford University and the Authors.           *
 * Authors: Michael Sherman                                                   *
 * Contributors:                                                              *
 *                                                                            *
 * Licensed under the Apache License, Version 2.0 (the "License"); you may    *
 * not use this file except in compliance with the License. You may obtain a  *
 * copy of the License at http://www.apache.org/licenses/LICENSE-2.0.         *
 *                                                                            *
 * Unless required by applicable law or agreed to in writing, software        *
 * distributed under the License is distributed on an "AS IS" BASIS,          *
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.   *
 * See the License for the specific language governing permissions and        *
 * limitations under the License.                                             *
 * -------------------------------------------------------------------------- */

#include "simbody/internal/Constraint.h"

namespace SimTK {

//==============================================================================
//                        SPHERE ON PLANE CONTACT
//==============================================================================
class SimTK_SIMBODY_EXPORT Constraint::SphereOnPlaneContact
:   public Constraint  {
public:
    // no default constructor

//------------------------------------------------------------------------------

SphereOnPlaneContact(   MobilizedBody&      planeMobod, 
                        const Transform&    defaultPlaneFrame, 
                        MobilizedBody&      sphereMobod, 
                        const Vec3&         defaultSphereCenter,
                        Real                defaultSphereRadius,
                        bool                enforceRolling);
    
SphereOnPlaneContact() {}

const MobilizedBody& getPlaneMobilizedBody() const;

const MobilizedBody& getSphereMobilizedBody() const;

bool isEnforcingRolling() const;


SphereOnPlaneContact& 
setDefaultPlaneFrame(const Transform& defaultPlaneFrame);
SphereOnPlaneContact& 
setDefaultSphereCenter(const Vec3& defaultSphereCenter);
SphereOnPlaneContact& 
setDefaultSphereRadius(Real defaultSphereRadius);


const Transform& getDefaultPlaneFrame() const;
const Vec3& getDefaultSphereCenter() const;
Real getDefaultSphereRadius() const;
//------------------------------------------------------------------------------
SphereOnPlaneContact& setPlaneDisplayHalfWidth(Real halfWidth);
Real getPlaneDisplayHalfWidth() const;
//------------------------------------------------------------------------------

const SphereOnPlaneContact& 
setPlaneFrame(State& state, const Transform& planeFrame) const;

const SphereOnPlaneContact& 
setSphereCenter(State& state, const Vec3& sphereCenter) const;

const SphereOnPlaneContact& 
setSphereRadius(State& state, Real sphereRadius) const;

const Transform& getPlaneFrame(const State& state) const;
const Vec3& getSphereCenter(const State& state) const;
Real getSphereRadius(const State& state) const;
//------------------------------------------------------------------------------
Real getPositionError(const State& state) const;

Vec3 getVelocityErrors(const State& state) const;

Vec3 getAccelerationErrors(const State& state) const;

Vec3 getMultipliers(const State& state) const;

Vec3 findForceOnSphereInG(const State& state) const;

Vec3 findContactPointInG(const State& state) const;

Real findSeparation(const State& state) const; // hide from Doxygen
SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS
    (SphereOnPlaneContact, SphereOnPlaneContactImpl, Constraint);
};

} // namespace SimTK

#endif // SimTK_SIMBODY_CONSTRAINT_SPHERE_ON_PLANE_CONTACT_H_