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;
}
Constraint::LineOnLineContact::LineOnLineContact
(MobilizedBody& mobod_F,
const Transform& defaultEdgeFrameF,
Real defaultHalfLengthF,
MobilizedBody& mobod_B,
const Transform& defaultEdgeFrameB,
Real defaultHalfLengthB,
bool enforceRolling)
: Constraint(new LineOnLineContactImpl(enforceRolling))
{
SimTK_APIARGCHECK_ALWAYS(mobod_F.isInSubsystem() && mobod_B.isInSubsystem(),
"Constraint::LineOnLineContact","LineOnLineContact",
"Both mobilized bodies must already be in a SimbodyMatterSubsystem.");
SimTK_APIARGCHECK_ALWAYS(mobod_F.isInSameSubsystem(mobod_B),
"Constraint::LineOnLineContact","LineOnLineContact",
"The two mobilized bodies to be connected must be in the same "
"SimbodyMatterSubsystem.");
mobod_F.updMatterSubsystem().adoptConstraint(*this);
updImpl().m_mobod_F = updImpl().addConstrainedBody(mobod_F);
updImpl().m_mobod_B = updImpl().addConstrainedBody(mobod_B);
updImpl().m_def_X_FEf = defaultEdgeFrameF;
updImpl().m_def_hf = defaultHalfLengthF;
updImpl().m_def_X_BEb = defaultEdgeFrameB;
updImpl().m_def_hb = defaultHalfLengthB;
}
Constraint::SphereOnSphereContact::SphereOnSphereContact
(MobilizedBody& mobod_F,
const Vec3& defaultCenter_F,
Real defaultRadius_F,
MobilizedBody& mobod_B,
const Vec3& defaultCenter_B,
Real defaultRadius_B,
bool enforceRolling)
: Constraint(new SphereOnSphereContactImpl(enforceRolling))
{
SimTK_APIARGCHECK_ALWAYS(mobod_F.isInSubsystem() && mobod_B.isInSubsystem(),
"Constraint::SphereOnSphereContact","SphereOnSphereContact",
"Both mobilized bodies must already be in a SimbodyMatterSubsystem.");
SimTK_APIARGCHECK_ALWAYS(mobod_F.isInSameSubsystem(mobod_B),
"Constraint::SphereOnSphereContact","SphereOnSphereContact",
"The two mobilized bodies to be connected must be in the same "
"SimbodyMatterSubsystem.");
SimTK_APIARGCHECK2_ALWAYS(defaultRadius_F > 0 && defaultRadius_B > 0,
"Constraint::SphereOnSphereContact","SphereOnSphereContact",
"The sphere radii must be greater than zero; they were %g and %g.",
defaultRadius_F, defaultRadius_B);
mobod_F.updMatterSubsystem().adoptConstraint(*this);
updImpl().m_mobod_F = updImpl().addConstrainedBody(mobod_F);
updImpl().m_mobod_B = updImpl().addConstrainedBody(mobod_B);
updImpl().m_def_p_FSf = defaultCenter_F;
updImpl().m_def_radius_F = defaultRadius_F;
updImpl().m_def_p_BSb = defaultCenter_B;
updImpl().m_def_radius_B = defaultRadius_B;
}
