Constraint::SphereOnPlaneContact::SphereOnPlaneContact
(MobilizedBody& planeBody,
const Transform& defaultPlaneFrame,
MobilizedBody& sphereBody,
const Vec3& defaultSphereCenter,
Real defaultSphereRadius,
bool enforceRolling)
: Constraint(new SphereOnPlaneContactImpl(enforceRolling))
{
SimTK_APIARGCHECK_ALWAYS( planeBody.isInSubsystem()
&& sphereBody.isInSubsystem(),
"Constraint::SphereOnPlaneContact","SphereOnPlaneContact",
"Both bodies must already be in a SimbodyMatterSubsystem.");
SimTK_APIARGCHECK_ALWAYS(planeBody.isInSameSubsystem(sphereBody),
"Constraint::SphereOnPlaneContact","SphereOnPlaneContact",
"The two bodies to be connected must be in the same "
"SimbodyMatterSubsystem.");
SimTK_APIARGCHECK1_ALWAYS(defaultSphereRadius > 0,
"Constraint::SphereOnPlaneContact","SphereOnPlaneContact",
"The sphere radius must be greater than zero but was %g.",
defaultSphereRadius);
planeBody.updMatterSubsystem().adoptConstraint(*this);
updImpl().m_planeBody_F = updImpl().addConstrainedBody(planeBody);
updImpl().m_ballBody_B = updImpl().addConstrainedBody(sphereBody);
updImpl().m_def_X_FP = defaultPlaneFrame;
updImpl().m_def_p_BO = defaultSphereCenter;
updImpl().m_def_radius = defaultSphereRadius;
}
Differentiator::Function&
Differentiator::Function::setEstimatedAccuracy(Real ea) {
SimTK_APIARGCHECK1_ALWAYS(0<ea&&ea<1, "Differentiator::Function", "setNumParameters",
"The estimated accuracy was %g but must be between 0 and 1 (noninclusive)", ea);
rep->estimatedAccuracy = ea;
return *this;
}
Differentiator::Function&
Differentiator::Function::setNumParameters(int ny) {
SimTK_APIARGCHECK1_ALWAYS(ny>=0, "Differentiator::Function", "setNumParameters",
"The number of parameters was %d but must be >= 0", ny);
rep->nParam = ny;
return *this;
}
Differentiator::Function&
Differentiator::Function::setNumFunctions(int nf) {
SimTK_APIARGCHECK1_ALWAYS(nf>=0, "Differentiator::Function", "setNumFunctions",
"The number of functions was %d but must be >= 0", nf);
rep->nFunc = nf;
return *this;
}
void PeriodicEventReporter::setEventInterval(Real eventInterval) {
SimTK_APIARGCHECK1_ALWAYS(eventInterval > 0.0, "PeriodicEventReporter", "setEventInterval", "The interval was %d. It must be > 0", eventInterval);
impl->eventInterval = eventInterval;
}
PeriodicEventReporterImpl(Real eventInterval) : eventInterval(eventInterval) {
SimTK_APIARGCHECK1_ALWAYS(eventInterval > 0.0, "PeriodicEventReporterImpl", "PeriodicEventReporterImpl", "The interval was %d. It must be > 0", eventInterval);
}