SmoothSphereHalfSpaceForce.h

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#ifndef SimTK_SIMBODY_SMOOTH_SPHERE_HALFSPACE_FORCE_H_
#define SimTK_SIMBODY_SMOOTH_SPHERE_HALFSPACE_FORCE_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) 2008-19 Stanford University and the Authors.        *
 * Authors: Antoine Falisse, Gil Serrancoli                                   *
 * Contributors: Peter Eastman                                                *
 *                                                                            *
 * 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 "SimTKcommon.h"

#include "simbody/internal/common.h"
#include "simbody/internal/Force.h"

namespace SimTK {

class SmoothSphereHalfSpaceForceImpl;

class SimTK_SIMBODY_EXPORT SmoothSphereHalfSpaceForce : public Force {
public:
    SmoothSphereHalfSpaceForce(GeneralForceSubsystem& forces);
    void setParameters(Real stiffness, Real dissipation, Real staticFriction,
       Real dynamicFriction, Real viscousFriction, Real transitionVelocity,
       Real cf, Real bd, Real bv);
    void setStiffness(Real stiffness);
    void setDissipation(Real dissipation);
    void setStaticFriction(Real staticFriction);
    void setDynamicFriction(Real dynamicFriction);
    void setViscousFriction(Real viscousFriction);
    void setTransitionVelocity(Real transitionVelocity);
    void setConstantContactForce(Real cf);
    void setHertzSmoothing(Real bd);
    void setHuntCrossleySmoothing(Real bv);
    void setContactSphereBody(MobilizedBody bodyInput1);
    void setContactSphereLocationInBody(Vec3 locationSphere);
    void setContactSphereRadius(Real radius);
    void setContactHalfSpaceBody(MobilizedBody bodyInput2);
    void setContactHalfSpaceFrame(Transform halfSpaceFrame);
    MobilizedBody getBodySphere();
    MobilizedBody getBodyHalfSpace();
    Vec3 getContactSphereLocationInBody();
    Real getContactSphereRadius();
    Transform getContactHalfSpaceTransform();
    SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(SmoothSphereHalfSpaceForce,
        SmoothSphereHalfSpaceForceImpl, Force);
};

} // namespace SimTK

#endif // SimTK_SIMBODY_SMOOTH_SPHERE_HALFSPACE_FORCE_H_