Build an mlcp from a list of constraints stored in a PhysicsManagerState. More...

#include <BuildMlcp.h>

Inheritance diagram for SurgSim::Physics::BuildMlcp:

Public Member Functions
	BuildMlcp (bool doCopyState=false)
	Constructor. More...

	SURGSIM_CLASSNAME (SurgSim::Physics::BuildMlcp)

virtual	~BuildMlcp ()
	Destructor.

Public Member Functions inherited from SurgSim::Physics::Computation
	Computation (bool doCopyState)
	Constructor. More...

virtual	~Computation ()
	Destructor.

std::shared_ptr< PhysicsManagerState >	update (double dt, const std::shared_ptr< PhysicsManagerState > &state)
	Public Interface execute this objects computations, dt is the time from the last update call in seconds. More...

void	setDoCopyState (bool val)
	Sets up whether the computation will copy the state of PhysicsManagerState before executing. More...

bool	isCopyingState ()
	Query if this object is copying the PhysicsManagerState. More...

virtual std::string	getClassName () const =0
	The class name for this class. More...

Framework::Timer &	getTimer ()
	Provides access to the update timer. More...

Protected Member Functions
std::shared_ptr< PhysicsManagerState >	doUpdate (const double &dt, const std::shared_ptr< PhysicsManagerState > &state) override
	Override doUpdate from superclass.

Detailed Description

Build an mlcp from a list of constraints stored in a PhysicsManagerState.

Constructor & Destructor Documentation

SurgSim::Physics::BuildMlcp::BuildMlcp ( bool doCopyState = false )

explicit

Constructor.

Parameters

doCopyState Specify if the output state in Computation::Update() is a copy or not of the input state

The documentation for this class was generated from the following files: