1 #ifndef SimTK_SIMBODY_CONSTRAINT_SPHERE_ON_PLANE_CONTACT_H_ 2 #define SimTK_SIMBODY_CONSTRAINT_SPHERE_ON_PLANE_CONTACT_H_ 132 const Vec3& defaultSphereCenter,
133 Real defaultSphereRadius,
134 bool enforceRolling);
153 bool isEnforcingRolling()
const;
160 setDefaultPlaneFrame(
const Transform& defaultPlaneFrame);
165 setDefaultSphereCenter(
const Vec3& defaultSphereCenter);
170 setDefaultSphereRadius(
Real defaultSphereRadius);
175 const Transform& getDefaultPlaneFrame()
const;
178 const Vec3& getDefaultSphereCenter()
const;
181 Real getDefaultSphereRadius()
const;
200 Real getPlaneDisplayHalfWidth()
const;
233 setSphereCenter(
State& state,
const Vec3& sphereCenter)
const;
239 setSphereRadius(
State& state,
Real sphereRadius)
const;
250 const Vec3& getSphereCenter(
const State& state)
const;
253 Real getSphereRadius(
const State& state)
const;
266 Real getPositionError(
const State& state)
const;
277 Vec3 getVelocityErrors(
const State& state)
const;
284 Vec3 getAccelerationErrors(
const State& state)
const;
296 Vec3 getMultipliers(
const State& state)
const;
306 Vec3 findForceOnSphereInG(
const State& state)
const;
315 Vec3 findContactPointInG(
const State& state)
const;
324 Real findSeparation(
const State& state)
const;
335 #endif // SimTK_SIMBODY_CONSTRAINT_SPHERE_ON_PLANE_CONTACT_H_ 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:606
This object is intended to contain all state information for a SimTK::System, except topological info...
Definition: State.h:280
#define SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(DERIVED, DERIVED_IMPL, PARENT)
Definition: PrivateImplementation.h:343
This defines the base Constraint class and related classes, which are used to specify limitations on ...
#define SimTK_SIMBODY_EXPORT
Definition: Simbody/include/simbody/internal/common.h:68
A MobilizedBody is Simbody's fundamental body-and-joint object used to parameterize a system's motion...
Definition: MobilizedBody.h:168
This is the base class for all Constraint classes, which is just a handle for the underlying hidden i...
Definition: Constraint.h:66