ConstraintImplementation.h

// This file is a part of the OpenSurgSim project.
// Copyright 2013, SimQuest Solutions Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef SURGSIM_PHYSICS_CONSTRAINTIMPLEMENTATION_H
#define SURGSIM_PHYSICS_CONSTRAINTIMPLEMENTATION_H

#include <memory>

#include <Eigen/Core>

#include "SurgSim/Physics/Representation.h"
#include "SurgSim/Physics/ConstraintData.h"
#include "SurgSim/Physics/ConstraintImplementationFactory.h"
#include "SurgSim/Physics/ConstraintType.h"
#include "SurgSim/Physics/Localization.h"
#include "SurgSim/Physics/MlcpPhysicsProblem.h"

namespace SurgSim
{

namespace Physics
{

enum ConstraintSideSign {CONSTRAINT_POSITIVE_SIDE, CONSTRAINT_NEGATIVE_SIDE};

class ConstraintImplementation
{
public:
    ConstraintImplementation();

    virtual ~ConstraintImplementation();

    static ConstraintImplementationFactory& getFactory();

    size_t getNumDof() const;

    virtual SurgSim::Physics::ConstraintType getConstraintType() const = 0;

    void build(double dt,
        const ConstraintData& data,
        const std::shared_ptr<Localization>& localization,
        MlcpPhysicsProblem* mlcp,
        size_t indexOfRepresentation,
        size_t indexOfConstraint,
        ConstraintSideSign sign);

protected:
    Eigen::SparseVector<double, Eigen::RowMajor, ptrdiff_t> m_newH;

private:

    virtual size_t doGetNumDof() const = 0;

    virtual void doBuild(double dt,
                const ConstraintData& data,
                const std::shared_ptr<Localization>& localization,
                MlcpPhysicsProblem* mlcp,
                size_t indexOfRepresentation,
                size_t indexOfConstraint,
                ConstraintSideSign sign) = 0;

};

};  // namespace Physics

};  // namespace SurgSim

#endif  // SURGSIM_PHYSICS_CONSTRAINTIMPLEMENTATION_H