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16 #ifndef SURGSIM_PHYSICS_ROTATIONVECTORCONSTRAINT_H
17 #define SURGSIM_PHYSICS_ROTATIONVECTORCONSTRAINT_H
34 std::shared_ptr<ConstraintData> data,
35 std::shared_ptr<Representation> representation0,
37 std::shared_ptr<Representation> representation1,
52 size_t indexOfRepresentation0,
53 size_t indexOfRepresentation1,
54 size_t indexOfConstraint)
override;
61 #endif // SURGSIM_PHYSICS_ROTATIONVECTORCONSTRAINT_H
Base class for all physics constraints. Contains data specific to the constraint and a pair of implem...
Definition: Constraint.h:34
A description of a physical mixed LCP system to be solved.
Definition: MlcpPhysicsProblem.h:43
Definition: CompoundShapeToGraphics.cpp:29
RotationVectorConstraint(ConstraintType constraintType, std::shared_ptr< ConstraintData > data, std::shared_ptr< Representation > representation0, const SurgSim::DataStructures::Location &location0, std::shared_ptr< Representation > representation1, const SurgSim::DataStructures::Location &location1)
Definition: RotationVectorConstraint.cpp:26
virtual ~RotationVectorConstraint()
Destructor.
Definition: RotationVectorConstraint.cpp:38
ConstraintType
Definition: ConstraintType.h:24
void doBuild(double dt, const ConstraintData &data, MlcpPhysicsProblem *mlcpPhysicsProblem, size_t indexOfRepresentation0, size_t indexOfRepresentation1, size_t indexOfConstraint) override
Definition: RotationVectorConstraint.cpp:42
Base class for all CosntraintData Derived classes should be specific to a given constraint.
Definition: ConstraintData.h:27
A Location defines a local position w.r.t.
Definition: Location.h:39
Specific class for rotation vector constraints.
Definition: RotationVectorConstraint.h:29