Program Listing for File PenaltyContact.h

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#pragmaonce
#include"Karana/Collision/ContactForce.h"
#include"Karana/Collision/FrameCollider.h"
#include"Karana/SOADyn/KModel.h"
#include<boost/functional/hash.hpp>

namespaceKarana::Models{

classPenaltyContact:publicKModel<PenaltyContact>{
public:
//TODOMakeprotected
PenaltyContact(std::string_viewname,
constkc::ks_ptr<Karana::Dynamics::StatePropagator>&sp,
constkc::ks_ptr<Karana::Dynamics::SubTree>&st,
conststd::vector<Karana::Collision::FrameCollider>&collider,
constkc::ks_ptr<Karana::Collision::ContactForceBase>&contact_force_model);

~PenaltyContact();

statickc::ks_ptr<PenaltyContact>
create(std::string_viewname,
constkc::ks_ptr<Karana::Dynamics::StatePropagator>&sp,
constkc::ks_ptr<Karana::Dynamics::SubTree>&st,
conststd::vector<Karana::Collision::FrameCollider>&colliders,
constkc::ks_ptr<Karana::Collision::ContactForceBase>&contact_force_model);

voidpreDeriv(constKarana::Math::Ktime&t,constKarana::Math::Vec&x);

usingCollisionModelFn=std::function<constkc::ks_ptr<Collision::ContactForceBase>&(
constCollision::FrameContact&)>;

private:
kc::ks_ptr<Karana::Dynamics::SubTree>_st;

std::vector<Karana::Collision::FrameCollider>_colliders;

kc::ks_ptr<Collision::ContactForceBase>_contact_force_model;
};
}//namespaceKarana::Models