FrictionInteraction.h

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//Copyright (c) 2013-2014, The MercuryDPM Developers Team. All rights reserved.
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#ifndef FrictionInteraction_H
#define FrictionInteraction_H

#include "SlidingFrictionInteraction.h"
#include "Math/Vector.h"

class BaseParticle;
class FrictionSpecies;
class BaseInteractable;
class FrictionInteraction : public SlidingFrictionInteraction
{
public:
    typedef FrictionSpecies SpeciesType;
    FrictionInteraction(BaseInteractable* P, BaseInteractable* I, Mdouble timeStamp);
    FrictionInteraction(const FrictionInteraction &p);
    virtual ~FrictionInteraction();
    void computeFrictionForce();
    void read(std::istream& is);
    void write(std::ostream& os) const;
    void integrate(Mdouble timeStep);
    Mdouble getElasticEnergy() const;
    std::string getBaseName() const;
    const FrictionSpecies* getSpecies() const;
    void reverseHistory();

    void rotateHistory(Matrix3D& rotationMatrix);

    Vec3D getRollingSpring() const;
    
private:
    Vec3D rollingSpring_;
    Vec3D rollingSpringVelocity_;
    Vec3D torsionSpring_;
    Vec3D torsionSpringVelocity_;
};
#endif