MassSpringConstraintFixedPoint.h
Go to the documentation of this file.
1 // This file is a part of the OpenSurgSim project.
2 // Copyright 2013, SimQuest Solutions Inc.
3 //
4 // Licensed under the Apache License, Version 2.0 (the "License");
5 // you may not use this file except in compliance with the License.
6 // You may obtain a copy of the License at
7 //
8 // http://www.apache.org/licenses/LICENSE-2.0
9 //
10 // Unless required by applicable law or agreed to in writing, software
11 // distributed under the License is distributed on an "AS IS" BASIS,
12 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 // See the License for the specific language governing permissions and
14 // limitations under the License.
15 
16 #ifndef SURGSIM_PHYSICS_MASSSPRINGCONSTRAINTFIXEDPOINT_H
17 #define SURGSIM_PHYSICS_MASSSPRINGCONSTRAINTFIXEDPOINT_H
18 
20 
21 namespace SurgSim
22 {
23 
24 namespace Physics
25 {
26 
31 {
32 public:
35 
38 
40 
41 private:
42  size_t doGetNumDof() const override;
43 
44  void doBuild(double dt,
45  const ConstraintData& data,
46  const std::shared_ptr<Localization>& localization,
47  MlcpPhysicsProblem* mlcp,
48  size_t indexOfRepresentation,
49  size_t indexOfConstraint,
50  ConstraintSideSign sign) override;
51 };
52 
53 }; // namespace Physics
54 
55 }; // namespace SurgSim
56 
57 #endif // SURGSIM_PHYSICS_MASSSPRINGCONSTRAINTFIXEDPOINT_H
Definition: CompoundShapeToGraphics.cpp:29
MassSpringRepresentation bilateral 3d constraint implementation.
Definition: MassSpringConstraintFixedPoint.h:30
A description of a physical mixed LCP system to be solved.
Definition: MlcpPhysicsProblem.h:43
void doBuild(double dt, const ConstraintData &data, const std::shared_ptr< Localization > &localization, MlcpPhysicsProblem *mlcp, size_t indexOfRepresentation, size_t indexOfConstraint, ConstraintSideSign sign) override
Builds the subset of an Mlcp physics problem associated to this implementation.
Definition: MassSpringConstraintFixedPoint.cpp:38
Base class for all CosntraintData Derived classes should be specific to a given constraint.
Definition: ConstraintData.h:27
size_t doGetNumDof() const override
Does get number of degree of freedom.
Definition: MassSpringConstraintFixedPoint.cpp:112
SurgSim::Physics::ConstraintType getConstraintType() const override
Gets the constraint type for this ConstraintImplementation.
Definition: MassSpringConstraintFixedPoint.cpp:107
Base class for all constraint implementations. A ConstraintImplementation defines 1 side of a constra...
Definition: ConstraintImplementation.h:42
virtual ~MassSpringConstraintFixedPoint()
Destructor.
Definition: MassSpringConstraintFixedPoint.cpp:34
MassSpringConstraintFixedPoint()
Constructor.
Definition: MassSpringConstraintFixedPoint.cpp:30
ConstraintSideSign
Enum defining on which side of the constraint an implementation is (positive or negative side) ...
Definition: ConstraintImplementation.h:39
ConstraintType
Definition: ConstraintType.h:24