1 #include "MBTB_Contact.hpp"
2 #include "MBTB_ContactRelation.hpp"
3 #include "MBTB_FC3DContactRelation.hpp"
4
MBTB_Contact()5 MBTB_Contact::MBTB_Contact() {}
6
MBTB_Contact(unsigned int id,const std::string & ContactName,unsigned int indexBody1,int indexBody2,unsigned int indexCAD1,unsigned int indexCAD2,int withFriction)7 MBTB_Contact::MBTB_Contact(unsigned int id,const std::string& ContactName, unsigned int indexBody1, int indexBody2,unsigned int indexCAD1,unsigned int indexCAD2, int withFriction)
8 {
9 strcpy(_ContactName,ContactName.c_str());
10 _id=id;
11 _indexBody1=indexBody1;
12 _indexBody2=indexBody2;
13 _indexCAD1=indexCAD1;
14 _indexCAD2=indexCAD2;
15 _withFriction=0;
16 _en=0.5;
17 _et=0.0;
18 _curTimeh=-1.0;
19 _Offset=0.01;
20 _OffsetP1=1;
21 _withFriction=withFriction;
22 _normalFromFace1=1;
23 if(_withFriction)
24 _Relation.reset(new MBTB_FC3DContactRelation(this));
25 else
26 _Relation.reset(new MBTB_ContactRelation(this));
27 }
setInteraction(SP::Interaction newInteraction)28 void MBTB_Contact::setInteraction(SP::Interaction newInteraction)
29 {
30
31 std::cout << "MBTB_Contact::setInteraction(SP::Interaction newInteraction)"<< std::endl;
32 std::cout << "_interaction before"<< _interaction << std::endl;
33 std::cout << "newinteraction "<< newInteraction << std::endl;
34 newInteraction->display();
35
36 _interaction = newInteraction ;
37 std::cout << "_interaction after"<< _interaction << std::endl;
38 _interaction->display();
39
40 }
41