text: /* Siconos is a program dedicated to modeling, simulation and control
   * of non smooth dynamical systems.
   *
   * Copyright 2018 INRIA.
   *
   * Licensed under the Apache License, Version 2.0 (the "License");
   * you may not use this file except in compliance with the License.
   * You may obtain a copy of the License at
   *
   * http://www.apache.org/licenses/LICENSE-2.0
   *
   * Unless required by applicable law or agreed to in writing, software
   * distributed under the License is distributed on an "AS IS" BASIS,
   * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   * See the License for the specific language governing permissions and
   * limitations under the License.
  */
  
  /*! \file SphereNEDSSphereNEDSR.hpp
    \brief Two spheres relation with the Newton Euler formalism and quaternions.
  */
  
  #ifndef SphereNEDSSphereNEDSR_h
  #define SphereNEDSSphereNEDSR_h
  
  #include "MechanicsFwd.hpp"
  #include "NewtonEulerFrom3DLocalFrameR.hpp"
  class SphereNEDSSphereNEDSR : public NewtonEulerFrom3DLocalFrameR,
    public std11::enable_shared_from_this<SphereNEDSSphereNEDSR>
  {
  private:
    /** serialization hooks
    */
    ACCEPT_SERIALIZATION(SphereNEDSSphereNEDSR);
  
    double r1, r2, r1pr2;
  
    SphereNEDSSphereNEDSR() {};
  
  public:
  
    /** Constructor
  
    \param r1 disk1 radius
    \param r2 disk2 radius
    */
    SphereNEDSSphereNEDSR(double r1, double r2);
  
    double distance(double, double, double, double, double, double, double, double);
  
    void computeh(double time, BlockVector& q0, SiconosVector& y);
  
    //void computeJachq(double);
  
    /** visitors hook
     */
    ACCEPT_VISITORS();
  
  };
  #endif /* SphereNEDSSphereNEDSR_h */
  