MassSpringConstraintFrictionlessContact.h
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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
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15 
16 #ifndef SURGSIM_PHYSICS_MASSSPRINGCONSTRAINTFRICTIONLESSCONTACT_H
17 #define SURGSIM_PHYSICS_MASSSPRINGCONSTRAINTFRICTIONLESSCONTACT_H
18 
23 
24 namespace SurgSim
25 {
26 
27 namespace Physics
28 {
29 
36 {
37 public:
40 
43 
47 
48 private:
51  size_t doGetNumDof() const override;
52 
61  void doBuild(double dt,
62  const ConstraintData& data,
63  const std::shared_ptr<Localization>& localization,
64  MlcpPhysicsProblem* mlcp,
65  size_t indexOfRepresentation,
66  size_t indexOfConstraint,
67  ConstraintSideSign sign) override;
68 
69 };
70 
71 }; // namespace Physics
72 
73 }; // namespace SurgSim
74 
75 #endif // SURGSIM_PHYSICS_MASSSPRINGCONSTRAINTFRICTIONLESSCONTACT_H
ConstraintImplementation.h
SurgSim::Physics::MlcpPhysicsProblem
A description of a physical mixed LCP system to be solved.
Definition: MlcpPhysicsProblem.h:43
SurgSim::Physics::ConstraintImplementation
Base class for all constraint implementations. A ConstraintImplementation defines 1 side of a constra...
Definition: ConstraintImplementation.h:42
SurgSim
Definition: CompoundShapeToGraphics.cpp:29
SurgSim::Physics::MassSpringConstraintFrictionlessContact::MassSpringConstraintFrictionlessContact
MassSpringConstraintFrictionlessContact()
Constructor.
Definition: MassSpringConstraintFrictionlessContact.cpp:31
SurgSim::Physics::MassSpringConstraintFrictionlessContact::getConstraintType
SurgSim::Physics::ConstraintType getConstraintType() const override
Gets the constraint type for this ConstraintImplementation.
Definition: MassSpringConstraintFrictionlessContact.cpp:94
SurgSim::Physics::ConstraintSideSign
ConstraintSideSign
Enum defining on which side of the constraint an implementation is (positive or negative side)
Definition: ConstraintImplementation.h:39
SurgSim::Physics::ConstraintType
ConstraintType
Definition: ConstraintType.h:24
SurgSim::Physics::ConstraintData
Base class for all CosntraintData Derived classes should be specific to a given constraint.
Definition: ConstraintData.h:27
SurgSim::Physics::MassSpringConstraintFrictionlessContact::~MassSpringConstraintFrictionlessContact
virtual ~MassSpringConstraintFrictionlessContact()
Destructor.
Definition: MassSpringConstraintFrictionlessContact.cpp:36
ConstraintData.h
Localization.h
MassSpringRepresentation.h
SurgSim::Physics::MassSpringConstraintFrictionlessContact::doGetNumDof
size_t doGetNumDof() const override
Gets the number of degrees of freedom for a frictionless contact.
Definition: MassSpringConstraintFrictionlessContact.cpp:99
SurgSim::Physics::MassSpringConstraintFrictionlessContact::doBuild
void doBuild(double dt, const ConstraintData &data, const std::shared_ptr< Localization > &localization, MlcpPhysicsProblem *mlcp, size_t indexOfRepresentation, size_t indexOfConstraint, ConstraintSideSign sign) override
Adds a mass-spring frictionless contact constraint to an MlcpPhysicsProblem.
Definition: MassSpringConstraintFrictionlessContact.cpp:41
SurgSim::Physics::MassSpringConstraintFrictionlessContact
MassSpring frictionless contact implementation.
Definition: MassSpringConstraintFrictionlessContact.h:35