MassSpring frictionless contact implementation.
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#include <SurgSim/Physics/MassSpringConstraintFrictionlessContact.h>
MassSpring frictionless contact implementation.
MassSpringConstraintFrictionlessContact implements the frictionless contact constraint for the MassSpringRepresentation, which prevents nodes from passing through a surface. See MassSpringConstraintFrictionlessContact::doBuild for more information.
◆ MassSpringConstraintFrictionlessContact()
SurgSim::Physics::MassSpringConstraintFrictionlessContact::MassSpringConstraintFrictionlessContact |
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◆ ~MassSpringConstraintFrictionlessContact()
SurgSim::Physics::MassSpringConstraintFrictionlessContact::~MassSpringConstraintFrictionlessContact |
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◆ doBuild()
Adds a mass-spring frictionless contact constraint to an MlcpPhysicsProblem.
- Parameters
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| dt | The time step. |
| data | [ContactConstraintData] Plane defining the constraint. |
| localization | [MassSpringRepresentationLocalization] Location and Representation to be constrained. |
[in,out] | mlcp | The Mixed LCP physics problem to fill up. |
| indexOfRepresentation | The index of the representation (associated to this implementation) in the mlcp. |
| indexOfConstraint | The index of the constraint in the mlcp. |
| sign | The sign of this implementation in the constraint (positive or negative side). |
Implements SurgSim::Physics::ConstraintImplementation.
◆ doGetNumDof()
size_t SurgSim::Physics::MassSpringConstraintFrictionlessContact::doGetNumDof |
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Gets the number of degrees of freedom for a frictionless contact.
- Returns
- 1, as a frictionless contact only has 1 equation of constraint (along the normal direction).
Implements SurgSim::Physics::ConstraintImplementation.
◆ getConstraintType()
The documentation for this class was generated from the following files: