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rdContactForce.h

// rdContactForce.h
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Copyright 2002, 2003 Realistic Dynamics, Inc.
// All rights reserved.
//
// Please do not read, copy, distribute, or use without permission.
// Contact: Frank C. Anderson, fca@RealisticDynamics.com
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include "rdModel.h"
#include "rdForce.h"
//============================================================================
#ifndef __rdContactForce_h__
#define __rdContactForce_h__




//=============================================================================
//=============================================================================
class RDSIMULATION_API rdContactForce : public rdForce
{

//=============================================================================
// DATA
//=============================================================================
public:
   static const char PROP_NORMAL_A[];
   static const char PROP_NORMAL_B[];

protected:
   double _nB[3];
   double _nA[3];
   double _rnA[3];
   double _rn;
   double _vnA[3];
   double _vn;
   double _tA[3];
   double _rtA[3];
   double _rt;
   double _vtA[3];
   double _ktp;
   double _ktv;
   double _knp;
   double _knv;
   // FORCE GEOMETRY
   double _fnMag;
   double _fnp[3];
   double _fnv[3];
   double _fn[3];
   double _ftMag;
   double _ftp[3];
   double _ftv[3];
   double _ft[3];
   double _dfFric[3];


//=============================================================================
// METHODS
//=============================================================================
   //--------------------------------------------------------------------------
   // CONSTRUCTION
   //--------------------------------------------------------------------------
public:
   rdContactForce(int aBodyA=0,int aBodyB=0,int aNYP=0);
   rdContactForce(IDOM_Element *aElement,int aNYP=0);
   rdContactForce(const rdContactForce &aForce);
   virtual ~rdContactForce();
private:
   void setNull();

   //--------------------------------------------------------------------------
   // OPERATORS
   //--------------------------------------------------------------------------
public:
   rdContactForce& operator=(const rdContactForce &aContact);

   //--------------------------------------------------------------------------
   // GET AND SET
   //--------------------------------------------------------------------------
public:
   // NORMAL ON BODY A
   void setNormalA(const double aNormal[3]);
   void getNormalA(double rNormal[3]) const;
   // NORMAL ON BODY B
   void setNormalB(const double aNormal[3]);
   void getNormalB(double rNormal[3]) const;
   // NORMAL DISPLACEMENT VECTOR
   void getNormalDisplacement(double rDisplacement[3]) const;
   // NORMAL DISTANCE
   double getNormalDistance() const;
   // NORMAL VELOCITY
   void getNormalVelocity(double rVelocity[3]) const;
   // NORMAL SPEED
   double getNormalSpeed() const;
   // TANGENT ON BODY A
   void getTangent(double rTangent[3]) const;
   // TANGENTIAL DISPLACEMENT VECTOR
   void getTangentialDisplacement(double rDisplacement[3]) const;
   // TANGENTIAL DISTANCE
   double getTangentialDistance() const;
   // TANGENTIAL VELOCITY
   void getTangentialVelocity(double rVelocity[3]) const;
   // FORCE
   void getNormalForce(double rFP[3],double rFV[3],double rF[3]) const;
   void getTangentialForce(double rFP[3],double rFV[3],double rF[3]) const;
   // STIFFNESS
   double getInstantaneousTangentialStiffness() const;
   double getInstantaneousNormalStiffness() const;
   // VISCOSITY
   double getInstantaneousTangentialViscosity() const;
   double getInstantaneousNormalViscosity() const;
   // FRICTION CORRECTION
   void getFrictionCorrection(double rDF[3]) const;


   //--------------------------------------------------------------------------
   // COMPUTATIONS
   //--------------------------------------------------------------------------
   virtual void updatePseudoStates() = 0;
   virtual void computeDisplacements();
   virtual void computeVelocities();

   //--------------------------------------------------------------------------
   // APPLICATION
   //--------------------------------------------------------------------------

   //--------------------------------------------------------------------------
   // CHECK
   //--------------------------------------------------------------------------
   virtual bool check() const;

   //--------------------------------------------------------------------------
   // UTILITY
   //--------------------------------------------------------------------------
   virtual void
      computeLineOfActionComponents(double rNormal[3],
      double rTangential[3]) const;

   //--------------------------------------------------------------------------
   // XML
   //--------------------------------------------------------------------------
   virtual void updateObject(bool aDeep=true);
   virtual void updateNode(bool aDeep=true);
   virtual void generateNode(IDOM_Element *aParent);
   void updateData();   

//=============================================================================
}; // END of class rdContactForce
//=============================================================================
//=============================================================================

#endif // __rdContactForce_h__

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