a_contact.h

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/*
Copyright 2010-2011 Pierre SMARS (smars@yuntech.edu.tw)
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 2 of the License, or
(at your option) any later version.
 
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU General Public License for more details.
 
You should have received a copy of the GNU General Public License
along with this program.  If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef _A_CONTACT_H_
#define _A_CONTACT_H_
 
#include <vector>
#include "a_wrench.h"
#include "a_point.h"
#include "a_segment.h"
 
class a_contact 
{
public:
        a_contact() : f_() {vertices_.clear();}
        a_contact(const a_contact& c);
        int nv() const {return vertices_.size();}
        void av(const a_point p) {vertices_.push_back(p);}
        a_point v(const int i) const {return vertices_[i];}
        a_segment s(const int i) const;
        void clean();
        void f(const a_wrench& f) {f_=f;}
        a_wrench f() const {return f_;}
        virtual void read(std::istream &i);
        virtual void write(std::ostream &o) const;
        //: input/output
        friend   std::istream&    operator>> (std::istream& i,       a_contact& c);
        friend   std::ostream&    operator<< (std::ostream& o, const a_contact& c);
 
protected:
        std::vector<a_point> vertices_;
        a_wrench f_;
};
 
#endif