<commit_before>/* Siconos-Kernel, Copyright INRIA 2005-2010.
 * Siconos is a program dedicated to modeling, simulation and control
 * of non smooth dynamical systems.
 * Siconos is a free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * Siconos is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with Siconos; if not, write to the Free Software
 * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
 *
 * Contact: <NAME>, <EMAIL>
 */
/*! \file NewtonEulerR.h

*/
#ifndef NEWTONEULERIMPACT_H
#define NEWTONEULERIMPACT_H

#include "NewtonEulerR.hpp"


/** NewtonEulerRImpact
 *
 * \author <NAME>
 *  \version 3.0.0.
 *  \date Dec, 2010
 *
 * This class is an interface for a relation with impact.  It
 * implements the computation of the jacoboian of h from the points of
 * contacts and the normal.  Use this class consists in overloading
 * the method computeh, by setting the menber pc1, pc2, nc and y.  The
 * matrix jachq is used both for the building of the OSNSP (with T)
 * and for the predictor of activation of deactivation of the UR.
*
 */


class NewtonEulerRImpact : public NewtonEulerR
{
protected:
  /*Point of contact*/
  SP::SimpleVector _Pc1;
  SP::SimpleVector _Pc2;

  /*Inward Normal at the contact */
  SP::SimpleVector _Nc;

  // /*because set is not sorted!*/
  // SP::NewtonEulerDS _ds1;
  // SP::NewtonEulerDS _ds2;
  virtual void initComponents();

public:

  bool _isOnContact;
  NewtonEulerRImpact():
    NewtonEulerR(), cd _Pc1(new SimpleVector(3)), _Pc2(new SimpleVector(3)),
    _Nc(new SimpleVector(3))
  {
    /*_ds1=NULL;_ds2=NULL;*/
  }

  // inline void setDs1(SP::NewtonEulerDS ds1){_ds1=ds1;}
  // inline void setDs2(SP::NewtonEulerDS ds2){_ds2=ds2;}
  // inline SP::NewtonEulerDS ds1(){return _ds1;}
  // inline SP::NewtonEulerDS ds2(){return _ds2;}

  /** destructor
   */
  virtual ~NewtonEulerRImpact() {};

  virtual void computeJachq(double t);<commit_msg>cd compil on mac? Joke<commit_after>/* Siconos-Kernel, Copyright INRIA 2005-2010.
 * Siconos is a program dedicated to modeling, simulation and control
 * of non smooth dynamical systems.
 * Siconos is a free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * Siconos is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with Siconos; if not, write to the Free Software
 * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
 *
 * Contact: <NAME>, <EMAIL>
 */
/*! \file NewtonEulerR.h

*/
#ifndef NEWTONEULERIMPACT_H
#define NEWTONEULERIMPACT_H

#include "NewtonEulerR.hpp"


/** NewtonEulerRImpact
 *
 * \author <NAME>
 *  \version 3.0.0.
 *  \date Dec, 2010
 *
 * This class is an interface for a relation with impact.  It
 * implements the computation of the jacoboian of h from the points of
 * contacts and the normal.  Use this class consists in overloading
 * the method computeh, by setting the menber pc1, pc2, nc and y.  The
 * matrix jachq is used both for the building of the OSNSP (with T)
 * and for the predictor of activation of deactivation of the UR.
*
 */


class NewtonEulerRImpact : public NewtonEulerR
{
protected:
  /*Point of contact*/
  SP::SimpleVector _Pc1;
  SP::SimpleVector _Pc2;

  /*Inward Normal at the contact */
  SP::SimpleVector _Nc;

  // /*because set is not sorted!*/
  // SP::NewtonEulerDS _ds1;
  // SP::NewtonEulerDS _ds2;
  virtual void initComponents();

public:

  bool _isOnContact;
  NewtonEulerRImpact():
    NewtonEulerR(), _Pc1(new SimpleVector(3)), _Pc2(new SimpleVector(3)),
    _Nc(new SimpleVector(3))
  {
    /*_ds1=NULL;_ds2=NULL;*/
  }

  // inline void setDs1(SP::NewtonEulerDS ds1){_ds1=ds1;}
  // inline void setDs2(SP::NewtonEulerDS ds2){_ds2=ds2;}
  // inline SP::NewtonEulerDS ds1(){return _ds1;}
  // inline SP::NewtonEulerDS ds2(){return _ds2;}

  /** destructor
   */
  virtual ~NewtonEulerRImpact() {};

  virtual void computeJachq(double t);
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