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Constraint_SphereOnSphereContact.h
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1 #ifndef SimTK_SIMBODY_CONSTRAINT_SPHERE_ON_SPHERE_CONTACT_H_
2 #define SimTK_SIMBODY_CONSTRAINT_SPHERE_ON_SPHERE_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) 2014 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 
31 
32 namespace SimTK {
33 
34 //==============================================================================
35 // SPHERE ON SPHERE CONTACT
36 //==============================================================================
103 : public Constraint {
104 public:
105  // no default constructor
106 
107 //------------------------------------------------------------------------------
123 
157  const Vec3& defaultCenterOnF,
158  Real defaultRadiusOnF,
159  MobilizedBody& mobod_B,
160  const Vec3& defaultCenterOnB,
161  Real defaultRadiusOnB,
162  bool enforceRolling);
163 
167 
171 const MobilizedBody& getMobilizedBodyF() const;
172 
176 const MobilizedBody& getMobilizedBodyB() const;
177 
181 bool isEnforcingRolling() const;
182 
188 setDefaultCenterOnF(const Vec3& defaultCenter);
194 setDefaultRadiusOnF(Real defaultRadius);
200 setDefaultCenterOnB(const Vec3& defaultCenter);
206 setDefaultRadiusOnB(Real defaultRadius);
207 
212 const Vec3& getDefaultCenterOnF() const;
217 Real getDefaultRadiusOnF() const;
222 const Vec3& getDefaultCenterOnB() const;
227 Real getDefaultRadiusOnB() const;
230 //------------------------------------------------------------------------------
238  // nothing yet
242 //------------------------------------------------------------------------------
260 
266 const SphereOnSphereContact&
267 setCenterOnF(State& state, const Vec3& sphereCenter) const;
268 
272 const SphereOnSphereContact&
273 setRadiusOnF(State& state, Real sphereRadius) const;
274 
280 const SphereOnSphereContact&
281 setCenterOnB(State& state, const Vec3& sphereCenter) const;
282 
286 const SphereOnSphereContact&
287 setRadiusOnB(State& state, Real sphereRadius) const;
288 
293 const Vec3& getCenterOnF(const State& state) const;
296 Real getRadiusOnF(const State& state) const;
297 
302 const Vec3& getCenterOnB(const State& state) const;
305 Real getRadiusOnB(const State& state) const;
308 //------------------------------------------------------------------------------
318 Real getPositionError(const State& state) const;
319 
329 Vec3 getVelocityErrors(const State& state) const;
330 
336 Vec3 getAccelerationErrors(const State& state) const;
337 
348 Vec3 getMultipliers(const State& state) const;
349 
359 Vec3 findForceOnSphereBInG(const State& state) const;
360 
373 Transform findContactFrameInG(const State& state) const;
374 
381 Real findSeparation(const State& state) const; // hide from Doxygen
386  (SphereOnSphereContact, SphereOnSphereContactImpl, Constraint);
388 };
389 
390 } // namespace SimTK
391 
392 #endif // SimTK_SIMBODY_CONSTRAINT_SPHERE_ON_SPHERE_CONTACT_H_
393 
394 
395 
SphereOnSphereContact()
Default constructor creates an empty handle that can be used to reference any SphereOnSphereContact C...
Definition: Constraint_SphereOnSphereContact.h:166
This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition: Assembler.h:37
This constraint represents a bilateral connection between a sphere on one body and a sphere on anothe...
Definition: Constraint_SphereOnSphereContact.h:102
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:577
This object is intended to contain all state information for a SimTK::System, except topological info...
Definition: State.h:276
#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:72
A MobilizedBody is Simbody's fundamental body-and-joint object used to parameterize a system's motion...
Definition: MobilizedBody.h:167
This is the base class for all Constraint classes, which is just a handle for the underlying hidden i...
Definition: Constraint.h:66