FemConstraintFixedPoint.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
14 // limitations under the License.
15 
16 #ifndef SURGSIM_PHYSICS_FEMCONSTRAINTFIXEDPOINT_H
17 #define SURGSIM_PHYSICS_FEMCONSTRAINTFIXEDPOINT_H
18 
20 
21 namespace SurgSim
22 {
23 
24 namespace Physics
25 {
26 
29 {
30 public:
33 
35  virtual ~FemConstraintFixedPoint();
36 
38 
39 private:
40  size_t doGetNumDof() const override;
41 
42  void doBuild(double dt,
43  const ConstraintData& data,
44  const std::shared_ptr<Localization>& localization,
45  MlcpPhysicsProblem* mlcp,
46  size_t indexOfRepresentation,
47  size_t indexOfConstraint,
48  ConstraintSideSign sign) override;
49 };
50 
51 }; // namespace Physics
52 
53 }; // namespace SurgSim
54 
55 #endif // SURGSIM_PHYSICS_FEMCONSTRAINTFIXEDPOINT_H
Definition: CompoundShapeToGraphics.cpp:29
A description of a physical mixed LCP system to be solved.
Definition: MlcpPhysicsProblem.h:43
Base class for all CosntraintData Derived classes should be specific to a given constraint.
Definition: ConstraintData.h:27
SurgSim::Physics::ConstraintType getConstraintType() const override
Gets the constraint type for this ConstraintImplementation.
Definition: FemConstraintFixedPoint.cpp:112
virtual ~FemConstraintFixedPoint()
Destructor.
Definition: FemConstraintFixedPoint.cpp:33
Base class for all constraint implementations. A ConstraintImplementation defines 1 side of a constra...
Definition: ConstraintImplementation.h:42
Base class for all FemRepresentation fixed point constraint implementation.
Definition: FemConstraintFixedPoint.h:28
size_t doGetNumDof() const override
Does get number of degree of freedom.
Definition: FemConstraintFixedPoint.cpp:117
FemConstraintFixedPoint()
Constructor.
Definition: FemConstraintFixedPoint.cpp:29
ConstraintSideSign
Enum defining on which side of the constraint an implementation is (positive or negative side) ...
Definition: ConstraintImplementation.h:39
ConstraintType
Definition: ConstraintType.h:24
void doBuild(double dt, const ConstraintData &data, const std::shared_ptr< Localization > &localization, MlcpPhysicsProblem *mlcp, size_t indexOfRepresentation, size_t indexOfConstraint, ConstraintSideSign sign) override
Builds the subset of an Mlcp physics problem associated to this implementation.
Definition: FemConstraintFixedPoint.cpp:37