ExponentialSpringParameters.h

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#ifndef SimTK_SIMBODY_EXPONENTIAL_SPRING_PARAMETERS_H_
#define SimTK_SIMBODY_EXPONENTIAL_SPRING_PARAMETERS_H_
 
/*-----------------------------------------------------------------------------
                               Simbody(tm)
-------------------------------------------------------------------------------
 Copyright (c) 2021-22 Authors.
 Authors: Frank C. Anderson
 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 "SimTKmath.h"
 
namespace SimTK {
 
//=============================================================================
class SimTK_SIMBODY_EXPORT ExponentialSpringParameters {
public:
    ExponentialSpringParameters();
 
    ExponentialSpringParameters(const ExponentialSpringParameters& source)
        = default;
 
    ExponentialSpringParameters&
        operator=(const ExponentialSpringParameters& source) = default;
 
    bool operator==(const ExponentialSpringParameters& other) const;
 
    bool operator!=(const ExponentialSpringParameters& other) const;
 
    void setShapeParameters(Real d0, Real d1 = 0.5336, Real d2 = 1150.0);
 
    void getShapeParameters(Real& d0, Real& d1, Real& d2) const;
 
    void setNormalViscosity(Real cz);
 
    Real getNormalViscosity() const;
 
    void setMaxNormalForce(Real maxFz);
 
    Real getMaxNormalForce() const;
 
    void setElasticityAndViscosityForCriticalDamping(Real kxy, Real mass=1.0);
 
    void setFrictionElasticity(Real kxy);
 
    Real getFrictionElasticity() const;
 
    void setFrictionViscosity(Real cxy);
 
    Real getFrictionViscosity() const;
 
    void setSettleVelocity(Real vSettle);
 
    Real getSettleVelocity() const;
 
    void setInitialMuStatic(Real mus);
 
    Real getInitialMuStatic() const;
 
    void setInitialMuKinetic(Real muk);
 
    Real getInitialMuKinetic() const;
 
private:
    Real d0;
    Real d1;
    Real d2;
    Real cz;
    Real maxFz;
    Real kxy;
    Real cxy;
    Real vSettle;
    Real initMus;
    Real initMuk;
};
 
}       // namespace SimTK
#endif  // SimTK_SIMBODY_EXPONENTIAL_SPRING_PARAMETERS_H_