SlidingFrictionInteraction.h

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//Copyright (c) 2013-2014, The MercuryDPM Developers Team. All rights reserved.
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#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, Mdouble timeStamp);
    SlidingFrictionInteraction(const SlidingFrictionInteraction &p);
    virtual ~SlidingFrictionInteraction();
    void computeFrictionForce();
    void read(std::istream& is);
    void write(std::ostream& os) const;
    void integrate(Mdouble timeStep);
    Mdouble getElasticEnergy() const;
    Mdouble getTangentialOverlap() const;
    std::string getBaseName() const;

    void setSlidingSpring(const Vec3D slidingSpring);

    Vec3D getSlidingSpring() const;

    //setters and getters
    const Vec3D getTangentialForce() const;
    const SlidingFrictionSpecies* getSpecies() const;
    void reverseHistory();

    void rotateHistory(Matrix3D& rotationMatrix);

    void moveSlidingSpring(const Vec3D displacement);

private:
    Vec3D slidingSpring_;
    Vec3D slidingSpringVelocity_;
    Vec3D tangentialForce_;
};
#endif