MassSpringConstraintFrictionlessContact.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_MASSSPRINGCONSTRAINTFRICTIONLESSCONTACT_H
#define SURGSIM_PHYSICS_MASSSPRINGCONSTRAINTFRICTIONLESSCONTACT_H

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

namespace SurgSim
{

namespace Physics
{

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

    virtual ~MassSpringConstraintFrictionlessContact();

    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;

    double m_mlcpNumericalPrecision;

};

};  // namespace Physics

};  // namespace SurgSim

#endif  // SURGSIM_PHYSICS_MASSSPRINGCONSTRAINTFRICTIONLESSCONTACT_H