MassSpringConstraintFrictionalSliding.h

// This file is a part of the OpenSurgSim project.
// Copyright 2020, 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_MASSSPRINGCONSTRAINTFRICTIONALSLIDING_H
#define SURGSIM_PHYSICS_MASSSPRINGCONSTRAINTFRICTIONALSLIDING_H

#include "SurgSim/Physics/ConstraintImplementation.h"
#include "SurgSim/Physics/MassSpringRepresentation.h"

namespace SurgSim
{
namespace Physics
{
class MassSpringLocalization;

class MassSpringConstraintFrictionalSliding: public ConstraintImplementation
{
public:
    MassSpringConstraintFrictionalSliding();

    virtual ~MassSpringConstraintFrictionalSliding();

    SurgSim::Physics::ConstraintType getConstraintType() const override;

private:
    size_t doGetNumDof() const override;

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

    void updateConstraint(double dt, const std::shared_ptr<MassSpringLocalization>& localization,
        MlcpPhysicsProblem * mlcp, size_t indexOfRepresentation, size_t atomicIndexOfConstraint, double scale,
        Math::Vector3d direction, const MassSpringRepresentation & massSpring, size_t numDofPerNode);
};
}; // namespace Physics
}; // namespace SurgSim

#endif // SURGSIM_PHYSICS_MASSSPRINGCONSTRAINTFRICTIONALSLIDING_H