Simbody
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00001 #ifndef SimTK_SIMBODY_HUNT_CROSSLEY_FORCE_H_ 00002 #define SimTK_SIMBODY_HUNT_CROSSLEY_FORCE_H_ 00003 00004 /* -------------------------------------------------------------------------- * 00005 * SimTK Core: SimTK Simbody(tm) * 00006 * -------------------------------------------------------------------------- * 00007 * This is part of the SimTK Core biosimulation toolkit originating from * 00008 * Simbios, the NIH National Center for Physics-Based Simulation of * 00009 * Biological Structures at Stanford, funded under the NIH Roadmap for * 00010 * Medical Research, grant U54 GM072970. See https://simtk.org. * 00011 * * 00012 * Portions copyright (c) 2008 Stanford University and the Authors. * 00013 * Authors: Peter Eastman * 00014 * Contributors: * 00015 * * 00016 * Permission is hereby granted, free of charge, to any person obtaining a * 00017 * copy of this software and associated documentation files (the "Software"), * 00018 * to deal in the Software without restriction, including without limitation * 00019 * the rights to use, copy, modify, merge, publish, distribute, sublicense, * 00020 * and/or sell copies of the Software, and to permit persons to whom the * 00021 * Software is furnished to do so, subject to the following conditions: * 00022 * * 00023 * The above copyright notice and this permission notice shall be included in * 00024 * all copies or substantial portions of the Software. * 00025 * * 00026 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR * 00027 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, * 00028 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL * 00029 * THE AUTHORS, CONTRIBUTORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, * 00030 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR * 00031 * OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE * 00032 * USE OR OTHER DEALINGS IN THE SOFTWARE. * 00033 * -------------------------------------------------------------------------- */ 00034 00035 00036 #include "SimTKcommon.h" 00037 00038 #include "simbody/internal/common.h" 00039 #include "simbody/internal/Force.h" 00040 00041 namespace SimTK { 00042 00043 class GeneralContactSubsystem; 00044 class HuntCrossleyForceImpl; 00045 00131 class SimTK_SIMBODY_EXPORT HuntCrossleyForce : public Force { 00132 public: 00140 HuntCrossleyForce(GeneralForceSubsystem& forces, GeneralContactSubsystem& contacts, ContactSetIndex contactSet); 00151 void setBodyParameters 00152 (ContactSurfaceIndex surfIndex, Real stiffness, Real dissipation, 00153 Real staticFriction, Real dynamicFriction, Real viscousFriction); 00157 Real getTransitionVelocity() const; 00161 void setTransitionVelocity(Real v); 00162 SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS(HuntCrossleyForce, HuntCrossleyForceImpl, Force); 00163 }; 00164 00165 } // namespace SimTK 00166 00167 #endif // SimTK_SIMBODY_HUNT_CROSSLEY_FORCE_H_