Constraint_PointOnPlaneContact.h

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#ifndef SimTK_SIMBODY_CONSTRAINT_POINT_ON_PLANE_CONTACT_H_
#define SimTK_SIMBODY_CONSTRAINT_POINT_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 {

//==============================================================================
//                         POINT ON PLANE CONTACT
//==============================================================================

class SimTK_SIMBODY_EXPORT Constraint::PointOnPlaneContact 
:   public Constraint  {
public:
    // no default constructor

//------------------------------------------------------------------------------
PointOnPlaneContact(MobilizedBody&     planeBody, 
                    const Transform&   defaultPlaneFrame, 
                    MobilizedBody&     followerBody, 
                    const Vec3&        defaultFollowerPoint);
    
PointOnPlaneContact() {}

PointOnPlaneContact& 
setDefaultPlaneFrame(const Transform& defaultPlaneFrame);
PointOnPlaneContact& 
setDefaultFollowerPoint(const Vec3& defaultFollowerPoint);

MobilizedBodyIndex getPlaneMobilizedBodyIndex() const;
MobilizedBodyIndex getFollowerMobilizedBodyIndex() const;

const Transform& getDefaultPlaneFrame() const;
const Vec3&      getDefaultFollowerPoint() const;
//------------------------------------------------------------------------------

PointOnPlaneContact& setPlaneDisplayHalfWidth(Real halfWidth);
PointOnPlaneContact& setPointDisplayRadius(Real radius);
Real getPlaneDisplayHalfWidth() const;
Real getPointDisplayRadius() const;
//------------------------------------------------------------------------------

const Transform& getPlaneFrame(const State& state) const;
const Vec3&      getFollowerPoint(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 getForceOnFollowerPoint(const State& state) const; // hide from Doxygen
SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS
    (PointOnPlaneContact, PointOnPlaneContactImpl, Constraint);
};

} // namespace SimTK

#endif // SimTK_SIMBODY_CONSTRAINT_POINT_ON_PLANE_CONTACT_H_