Simbody 3.7
HuntCrossleyContact.h
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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
39namespace SimTK {
40
41class MultibodySystem;
42
90public:
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
105private:
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:606