Constraint_PointInPlane.h

Go to the documentation of this file.

#ifndef SimTK_SIMBODY_CONSTRAINT_POINT_IN_PLANE_H_
#define SimTK_SIMBODY_CONSTRAINT_POINT_IN_PLANE_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) 2007-14 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 {

//==============================================================================
//                      CONSTRAINT::  POINT IN PLANE
//==============================================================================

class SimTK_SIMBODY_EXPORT Constraint::PointInPlane : public Constraint  {
public:
// no default constructor
PointInPlane(MobilizedBody& planeBody_B, 
             const UnitVec3& defaultPlaneNormal_B, Real defaultHeight,
             MobilizedBody& followerBody_F, const Vec3& defaultFollowerPoint_F);
    
PointInPlane() {}

// These affect only generated decorative geometry for visualization;
// the plane is really infinite in extent with zero depth and the
// point is really of zero radius.
PointInPlane& setPlaneDisplayHalfWidth(Real);
PointInPlane& setPointDisplayRadius(Real);
Real getPlaneDisplayHalfWidth() const;
Real getPointDisplayRadius() const;

// Defaults for Instance variables.
PointInPlane& setDefaultPlaneNormal(const UnitVec3&);
PointInPlane& setDefaultPlaneHeight(Real);
PointInPlane& setDefaultFollowerPoint(const Vec3&);

// Stage::Topology
MobilizedBodyIndex getPlaneMobilizedBodyIndex() const;
MobilizedBodyIndex getFollowerMobilizedBodyIndex() const;

const UnitVec3& getDefaultPlaneNormal() const;
Real            getDefaultPlaneHeight() const;
const Vec3&     getDefaultFollowerPoint() const;

// Stage::Instance
const UnitVec3& getPlaneNormal(const State&) const;
Real            getPlaneHeight(const State&) const;
const Vec3&     getFollowerPoint(const State&) const;

// Stage::Position, Velocity
Real getPositionError(const State&) const;
Real getVelocityError(const State&) const;

// Stage::Acceleration
Real getAccelerationError(const State&) const;
Real getMultiplier(const State&) const;
Real getForceOnFollowerPoint(const State&) const; // in normal direction
 // hide from Doxygen
SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS
    (PointInPlane, PointInPlaneImpl, Constraint);
};


} // namespace SimTK

#endif // SimTK_SIMBODY_CONSTRAINT_POINT_IN_PLANE_H_