HuntCrossleyContact.h

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#ifndef SimTK_SIMBODY_HUNT_CROSSLEY_CONTACT_H_
#define SimTK_SIMBODY_HUNT_CROSSLEY_CONTACT_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) 2006-12 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 "SimTKcommon.h"

#include "simbody/internal/common.h"
#include "simbody/internal/ForceSubsystem.h"

#include <cassert>

namespace SimTK {

class MultibodySystem;

class SimTK_SIMBODY_EXPORT HuntCrossleyContact : public ForceSubsystem {
public:
    HuntCrossleyContact();
    explicit HuntCrossleyContact(MultibodySystem&);

    int addSphere(MobilizedBodyIndex body, const Vec3& center,
                  const Real& radius,
                  const Real& stiffness,     // E (plane strain)
                  const Real& dissipation);  // c (1/v)

    int addHalfSpace(MobilizedBodyIndex body, const UnitVec3& normal,
                     const Real& height,
                     const Real& stiffness,     // E (plane strain)
                     const Real& dissipation);  // c (1/v)

    SimTK_PIMPL_DOWNCAST(HuntCrossleyContact, ForceSubsystem);
private:
    class HuntCrossleyContactRep& updRep();
    const HuntCrossleyContactRep& getRep() const;
};

} // namespace SimTK

#endif // SimTK_SIMBODY_HUNT_CROSSLEY_CONTACT_H_