1 #ifndef SimTK_SIMBODY_HUNT_CROSSLEY_FORCE_H_
2 #define SimTK_SIMBODY_HUNT_CROSSLEY_FORCE_H_
34 class GeneralContactSubsystem;
35 class HuntCrossleyForceImpl;
133 ContactSetIndex contactSet);
146 Real staticFriction,
Real dynamicFriction,
Real viscousFriction);
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 the base class from which all Force element handle classes derive.
Definition: Force.h:50
This is a concrete subsystem which can apply arbitrary forces to a MultibodySystem.
Definition: GeneralForceSubsystem.h:47
This class models the forces generated by simple point contacts, such as between two spheres,...
Definition: HuntCrossleyForce.h:122
Real getTransitionVelocity() const
Get the transition velocity (vt) of the friction model.
ContactSetIndex getContactSetIndex() const
Retrieve the ContactSetIndex that was associated with this HuntCrossleyForce on construction.
HuntCrossleyForce(GeneralForceSubsystem &forces, GeneralContactSubsystem &contacts, ContactSetIndex contactSet)
Create a Hunt-Crossley contact model.
SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(HuntCrossleyForce, HuntCrossleyForceImpl, Force)
void setBodyParameters(ContactSurfaceIndex surfIndex, Real stiffness, Real dissipation, Real staticFriction, Real dynamicFriction, Real viscousFriction)
Set the material parameters for a surface in the contact set.
void setTransitionVelocity(Real v)
Set the transition velocity (vt) of the friction model.
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