16 #ifndef SURGSIM_PHYSICS_FIXEDCONSTRAINTFIXEDPOINT_H 17 #define SURGSIM_PHYSICS_FIXEDCONSTRAINTFIXEDPOINT_H 59 const std::shared_ptr<Localization>& localization,
61 size_t indexOfRepresentation,
62 size_t indexOfConstraint,
70 #endif // SURGSIM_PHYSICS_FIXEDCONSTRAINTFIXEDPOINT_H size_t doGetNumDof() const override
Gets the number of degree of freedom.
Definition: FixedConstraintFixedPoint.cpp:64
SurgSim::Physics::ConstraintType getConstraintType() const override
Gets the constraint type for this ConstraintImplementation.
Definition: FixedConstraintFixedPoint.cpp:59
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
virtual ~FixedConstraintFixedPoint()
Destructor.
Definition: FixedConstraintFixedPoint.cpp:32
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: FixedConstraintFixedPoint.cpp:36
Base class for all constraint implementations. A ConstraintImplementation defines 1 side of a constra...
Definition: ConstraintImplementation.h:42
FixedRepresentation bilateral 3d constraint implementation.
Definition: FixedConstraintFixedPoint.h:30
FixedConstraintFixedPoint()
Constructor.
Definition: FixedConstraintFixedPoint.cpp:28
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