FixedConstraintFixedRotationVector.h
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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
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15 
16 #ifndef SURGSIM_PHYSICS_FIXEDCONSTRAINTFIXEDROTATIONVECTOR_H
17 #define SURGSIM_PHYSICS_FIXEDCONSTRAINTFIXEDROTATIONVECTOR_H
18 
20 
21 namespace SurgSim
22 {
23 
24 namespace Physics
25 {
26 
32 {
33 public:
36 
39 
41 
42 private:
43  size_t doGetNumDof() const override;
44 
54  void doBuild(double dt,
55  const ConstraintData& data,
56  const std::shared_ptr<Localization>& localization,
57  MlcpPhysicsProblem* mlcp,
58  size_t indexOfRepresentation,
59  size_t indexOfConstraint,
60  ConstraintSideSign sign) override;
61 
62 };
63 
64 }; // namespace Physics
65 
66 }; // namespace SurgSim
67 
68 #endif // SURGSIM_PHYSICS_FIXEDCONSTRAINTFIXEDROTATIONVECTOR_H
SurgSim::Physics::FixedConstraintFixedRotationVector
FixedRepresentation fixed rotation vector constraint.
Definition: FixedConstraintFixedRotationVector.h:31
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::FixedConstraintFixedRotationVector::doGetNumDof
size_t doGetNumDof() const override
Does get number of degree of freedom.
Definition: FixedConstraintFixedRotationVector.cpp:65
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::FixedConstraintFixedRotationVector::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: FixedConstraintFixedRotationVector.cpp:37
SurgSim::Physics::ConstraintType
ConstraintType
Definition: ConstraintType.h:24
SurgSim::Physics::FixedConstraintFixedRotationVector::getConstraintType
SurgSim::Physics::ConstraintType getConstraintType() const override
Gets the constraint type for this ConstraintImplementation.
Definition: FixedConstraintFixedRotationVector.cpp:60
SurgSim::Physics::ConstraintData
Base class for all CosntraintData Derived classes should be specific to a given constraint.
Definition: ConstraintData.h:27
SurgSim::Physics::FixedConstraintFixedRotationVector::FixedConstraintFixedRotationVector
FixedConstraintFixedRotationVector()
Constructor.
Definition: FixedConstraintFixedRotationVector.cpp:29
SurgSim::Physics::FixedConstraintFixedRotationVector::~FixedConstraintFixedRotationVector
virtual ~FixedConstraintFixedRotationVector()
Destructor.
Definition: FixedConstraintFixedRotationVector.cpp:33