FemConstraintFixedRotationVector.h
Go to the documentation of this file.
1 // This file is a part of the OpenSurgSim project.
2 // Copyright 2016, 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_FEMCONSTRAINTFIXEDROTATIONVECTOR_H
17 #define SURGSIM_PHYSICS_FEMCONSTRAINTFIXEDROTATIONVECTOR_H
18 
20 
21 namespace SurgSim
22 {
23 
24 namespace Physics
25 {
26 
29 {
30 public:
33 
36 
38 
39 private:
40  size_t doGetNumDof() const override;
41 
47  void doBuild(double dt,
48  const ConstraintData& data,
49  const std::shared_ptr<Localization>& localization,
50  MlcpPhysicsProblem* mlcp,
51  size_t indexOfRepresentation,
52  size_t indexOfConstraint,
53  ConstraintSideSign sign) override;
54 };
55 
56 }; // namespace Physics
57 
58 }; // namespace SurgSim
59 
60 #endif // SURGSIM_PHYSICS_FEMCONSTRAINTFIXEDROTATIONVECTOR_H
SurgSim::Physics::FemConstraintFixedRotationVector::FemConstraintFixedRotationVector
FemConstraintFixedRotationVector()
Constructor.
Definition: FemConstraintFixedRotationVector.cpp:29
SurgSim::Physics::FemConstraintFixedRotationVector::getConstraintType
SurgSim::Physics::ConstraintType getConstraintType() const override
Gets the constraint type for this ConstraintImplementation.
Definition: FemConstraintFixedRotationVector.cpp:121
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::Physics::FemConstraintFixedRotationVector
Base class for all FemRepresentation fixed rotation vector constraint implementation.
Definition: FemConstraintFixedRotationVector.h:28
SurgSim
Definition: CompoundShapeToGraphics.cpp:29
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::FemConstraintFixedRotationVector::~FemConstraintFixedRotationVector
virtual ~FemConstraintFixedRotationVector()
Destructor.
Definition: FemConstraintFixedRotationVector.cpp:33
SurgSim::Physics::ConstraintData
Base class for all CosntraintData Derived classes should be specific to a given constraint.
Definition: ConstraintData.h:27
SurgSim::Physics::FemConstraintFixedRotationVector::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
Definition: FemConstraintFixedRotationVector.cpp:37
SurgSim::Physics::FemConstraintFixedRotationVector::doGetNumDof
size_t doGetNumDof() const override
Does get number of degree of freedom.
Definition: FemConstraintFixedRotationVector.cpp:126