SlidingFrictionInteraction.h

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// This file is part of the MercuryDPM project (https://www.mercurydpm.org).
// Copyright (c), The MercuryDPM Developers Team. All rights reserved.
// License: BSD 3-Clause License; see the LICENSE file in the root directory.
 
#ifndef SLIDINGFRICTIONINTERACTION_H
#define SLIDINGFRICTIONINTERACTION_H
 
#include "Interactions/BaseInteraction.h"
#include "Math/Vector.h"
 
class BaseParticle;
 
class SlidingFrictionSpecies;
 
class BaseInteractable;
 
class SlidingFrictionInteraction : public virtual BaseInteraction
{
public:
    typedef SlidingFrictionSpecies SpeciesType;
    
    SlidingFrictionInteraction(BaseInteractable* P, BaseInteractable* I, unsigned timeStamp);
    
    //used for mpi
    SlidingFrictionInteraction();
    
    SlidingFrictionInteraction(const SlidingFrictionInteraction& p);
    
    ~SlidingFrictionInteraction() override;
    
    void computeFrictionForce();
    
    void read(std::istream& is) override;
    
    void write(std::ostream& os) const override;
    
    void integrate(Mdouble timeStep) override;
    
    Mdouble getElasticEnergy() const override;
    
    Mdouble getTangentialOverlap() const override;
    
    std::string getBaseName() const;
    
    void setSlidingSpring(Vec3D slidingSpring);
    
    Vec3D getSlidingSpring() const;
 
    //setters and getters
    const Vec3D getTangentialForce() const override;
 
    void addTangentialForce(Vec3D force) {
        tangentialForce_ = Vec3D(0.0,0.0,0.0);
        tangentialForce_ += force;
    }
 
    const SlidingFrictionSpecies* getSpecies() const;
    
    void reverseHistory() override;
    
    void rotateHistory(Matrix3D& rotationMatrix) override;
    
    void moveSlidingSpring(Vec3D displacement);
    
    void computeSlidingSpring(const Vec3D& tangentialRelativeVelocity);
    
    void setIsSuperQuadricInteraction(bool isSuperQuadricInteraction);
    
 
protected:
    Vec3D slidingSpring_;
    Vec3D slidingSpringVelocity_;
    Vec3D tangentialForce_;
    
    bool isSuperQuadricInteraction_;
};
 
#endif