1 #ifndef SimTK_SIMBODY_COMPLIANT_CONTACT_SUBSYSTEM_H_ 2 #define SimTK_SIMBODY_COMPLIANT_CONTACT_SUBSYSTEM_H_ 35 class MultibodySystem;
36 class SimbodyMatterSubsystem;
37 class ContactTrackerSubsystem;
38 class ContactForceGenerator;
67 Real getTransitionVelocity()
const;
69 void setTransitionVelocity(
Real vt);
71 Real getOOTransitionVelocity()
const;
81 void setTrackDissipatedEnergy(
bool shouldTrack);
86 bool getTrackDissipatedEnergy()
const;
92 int getNumContactForces(
const State& state)
const;
136 bool calcContactPatchDetailsById(
const State& state,
170 Real getDissipatedEnergy(
const State& state)
const;
192 void setDissipatedEnergy(
State& state,
Real energy)
const;
214 bool hasDefaultForceGenerator()
const;
244 class CompliantContactSubsystemImpl& updImpl();
245 const CompliantContactSubsystemImpl& getImpl()
const;
312 Real potentialEnergy,
Real powerLoss)
313 : m_contactId(id), m_contactPt(contactPt),
314 m_forceOnSurface2(forceOnSurface2),
315 m_potentialEnergy(potentialEnergy), m_powerLoss(powerLoss) {}
342 Real potentialEnergy,
Real powerLoss)
344 m_contactPt = contactPt;
345 m_forceOnSurface2 = forceOnSurface2;
346 m_potentialEnergy = potentialEnergy;
347 m_powerLoss = powerLoss; }
356 { m_forceOnSurface2=forceOnSurface2; }
359 { m_potentialEnergy=potentialEnergy; }
365 void clear() {m_contactId.invalidate();}
367 bool isValid()
const {
return m_contactId.isValid();}
374 m_contactPt = X_BA*m_contactPt;
375 m_forceOnSurface2 = X_BA.
R()*m_forceOnSurface2;
382 Real m_potentialEnergy;
388 o <<
"ContactForce for ContactId " << f.
getContactId() <<
" (ground frame):\n";
543 o <<
"ContactDetail (ground frame):\n";
583 void clear() {m_resultant.clear(); m_elements.clear();}
584 bool isValid()
const {
return m_resultant.isValid();}
593 m_resultant.changeFrameInPlace(X_BA);
594 for (
unsigned i=0; i<m_elements.size(); ++i)
595 m_elements[i].changeFrameInPlace(X_BA);
639 { assert(m_compliantContactSubsys);
return *m_compliantContactSubsys; }
641 { m_compliantContactSubsys = sub; }
656 virtual void calcContactForce
668 virtual void calcContactPatch
703 void calcContactForce
709 void calcContactPatch
733 void calcContactForce
739 void calcContactPatch
761 void calcContactForce
767 void calcContactPatch
788 void calcContactForce
794 void calcContactPatch
801 void calcContactForceAndDetails
808 void calcWeightedPatchCentroid
810 const std::set<int>& insideFaces,
811 Vec3& weightedPatchCentroid,
812 Real& patchArea)
const;
817 const std::set<int>& insideFaces,
821 Real meshDeformationFraction,
822 Real areaScaleFactor,
824 const Vec3& resultantPt_M,
826 Real& potentialEnergy,
828 Vec3& weightedCenterOfPressure_M,
829 Real& sumOfAllPressureMoments,
848 void calcContactForce
854 "ContactForceGenerator::DoNothing::calcContactForce() not implemented yet."); }
855 void calcContactPatch
861 "ContactForceGenerator::DoNothing::calcContactPatch() not implemented yet."); }
879 void calcContactForce
885 "ContactForceGenerator::ThrowError::calcContactForce() not implemented yet."); }
886 void calcContactPatch
892 "ContactForceGenerator::ThrowError::calcContactPatch() not implemented yet."); }
897 #endif // SimTK_SIMBODY_COMPLIANT_CONTACT_SUBSYSTEM_H_
#define SimTK_PIMPL_DOWNCAST(Derived, Parent)
Similar to the above but for private implementation abstract classes, that is, abstract class hierarc...
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:593
This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition: Assembler.h:37
#define SimTK_ASSERT_ALWAYS(cond, msg)
Definition: ExceptionMacros.h:349
Every Simbody header and source file should include this header before any other Simbody header...
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:606
This object is intended to contain all state information for a SimTK::System, except topological info...
Definition: State.h:280
The Array_<T> container class is a plug-compatible replacement for the C++ standard template library ...
Definition: Array.h:53
The job of the MultibodySystem class is to coordinate the activities of various subsystems which can ...
Definition: MultibodySystem.h:48
This is logically an abstract class, more specialized than "Subsystem" but not yet concrete...
Definition: ForceSubsystem.h:36
std::ostream & operator<<(std::ostream &o, const ContactForce &f)
Definition: CompliantContactSubsystem.h:387
#define SimTK_SIMBODY_EXPORT
Definition: Simbody/include/simbody/internal/common.h:68