Simbody  3.8
HuntCrossleyContact.h
Go to the documentation of this file.
1 #ifndef SimTK_SIMBODY_HUNT_CROSSLEY_CONTACT_H_
2 #define SimTK_SIMBODY_HUNT_CROSSLEY_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) 2006-12 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 
32 #include "SimTKcommon.h"
33 
36 
37 #include <cassert>
38 
39 namespace SimTK {
40 
41 class MultibodySystem;
42 
90 public:
93 
94  int addSphere(MobilizedBodyIndex body, const Vec3& center,
95  const Real& radius,
96  const Real& stiffness, // E (plane strain)
97  const Real& dissipation); // c (1/v)
98 
99  int addHalfSpace(MobilizedBodyIndex body, const UnitVec3& normal,
100  const Real& height,
101  const Real& stiffness, // E (plane strain)
102  const Real& dissipation); // c (1/v)
103 
105 private:
106  class HuntCrossleyContactRep& updRep();
107  const HuntCrossleyContactRep& getRep() const;
108 };
109 
110 } // namespace SimTK
111 
112 #endif // SimTK_SIMBODY_HUNT_CROSSLEY_CONTACT_H_
Includes internal headers providing declarations for the basic SimTK Core classes,...
Every Simbody header and source file should include this header before any other Simbody header.
#define SimTK_SIMBODY_EXPORT
Definition: Simbody/include/simbody/internal/common.h:68
This is logically an abstract class, more specialized than "Subsystem" but not yet concrete.
Definition: ForceSubsystem.h:36
This is a concrete subsystem that handles simple, frictionless contact situations with a model due to...
Definition: HuntCrossleyContact.h:89
SimTK_PIMPL_DOWNCAST(HuntCrossleyContact, ForceSubsystem)
int addHalfSpace(MobilizedBodyIndex body, const UnitVec3 &normal, const Real &height, const Real &stiffness, const Real &dissipation)
HuntCrossleyContact(MultibodySystem &)
int addSphere(MobilizedBodyIndex body, const Vec3 &center, const Real &radius, const Real &stiffness, const Real &dissipation)
This is for arrays indexed by mobilized body number within a subsystem (typically the SimbodyMatterSu...
The job of the MultibodySystem class is to coordinate the activities of various subsystems which can ...
Definition: MultibodySystem.h:48
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:607