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16 #ifndef SURGSIM_PHYSICS_RIGIDCONSTRAINTFIXEDROTATIONVECTOR_H
17 #define SURGSIM_PHYSICS_RIGIDCONSTRAINTFIXEDROTATIONVECTOR_H
56 const std::shared_ptr<Localization>& localization,
58 size_t indexOfRepresentation,
59 size_t indexOfConstraint,
68 #endif // SURGSIM_PHYSICS_RIGIDCONSTRAINTFIXEDROTATIONVECTOR_H
size_t doGetNumDof() const override
Does get number of degree of freedom.
Definition: RigidConstraintFixedRotationVector.cpp:66
RigidConstraintFixedRotationVector()
Constructor.
Definition: RigidConstraintFixedRotationVector.cpp:29
A description of a physical mixed LCP system to be solved.
Definition: MlcpPhysicsProblem.h:43
Base class for all constraint implementations. A ConstraintImplementation defines 1 side of a constra...
Definition: ConstraintImplementation.h:42
SurgSim::Physics::ConstraintType getConstraintType() const override
Gets the constraint type for this ConstraintImplementation.
Definition: RigidConstraintFixedRotationVector.cpp:61
Definition: CompoundShapeToGraphics.cpp:29
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
void doBuild(double dt, const ConstraintData &data, const std::shared_ptr< Localization > &localization, MlcpPhysicsProblem *mlcp, size_t indexOfRepresentation, size_t indexOfConstraint, ConstraintSideSign sign) override
Definition: RigidConstraintFixedRotationVector.cpp:37
Base class for all CosntraintData Derived classes should be specific to a given constraint.
Definition: ConstraintData.h:27
RigidRepresentationBase fixed rotation vector constraint.
Definition: RigidConstraintFixedRotationVector.h:31
virtual ~RigidConstraintFixedRotationVector()
Destructor.
Definition: RigidConstraintFixedRotationVector.cpp:33