SurgSim::Physics::ConstraintImplementation Class Reference

Base class for all constraint implementations. A ConstraintImplementation defines 1 side of a constraint. More...

#include <ConstraintImplementation.h>

Inheritance diagram for SurgSim::Physics::ConstraintImplementation:

Public Member Functions
	ConstraintImplementation ()
	Constructor.
virtual	~ConstraintImplementation ()
	Destructor.
size_t	getNumDof () const
	Gets the number of degree of freedom for this implementation. More...
virtual SurgSim::Physics::ConstraintType	getConstraintType () const =0
	Gets the constraint type for this ConstraintImplementation. More...
void	build (double dt, const ConstraintData &data, const std::shared_ptr< Localization > &localization, MlcpPhysicsProblem *mlcp, size_t indexOfRepresentation, size_t indexOfConstraint, ConstraintSideSign sign)
	Builds the subset of an Mlcp physics problem associated to this implementation. More...

Static Public Member Functions
static ConstraintImplementationFactory &	getFactory ()

Protected Attributes
Eigen::SparseVector< double, Eigen::RowMajor, ptrdiff_t >	m_newH
	Preallocated variable for derived implementations of doBuild.

Detailed Description

Base class for all constraint implementations. A ConstraintImplementation defines 1 side of a constraint.

Member Function Documentation

build()

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

Builds the subset of an Mlcp physics problem associated to this implementation.

Parameters

	dt	The time step
	data	The data associated to the constraint
	localization	The localization for this implementation
[in,out]	mlcp	The Mixed LCP physics problem to fill up
	indexOfRepresentation	The index of the representation (associated to this implementation) in the mlcp
	indexOfConstraint	The index of the constraint in the mlcp
	sign	The sign of this implementation in the constraint (positive or negative side)

getConstraintType()

virtual SurgSim::Physics::ConstraintType SurgSim::Physics::ConstraintImplementation::getConstraintType ( ) const

pure virtual

Gets the constraint type for this ConstraintImplementation.

Returns

The constraint type corresponding to this constraint implementation

Implemented in SurgSim::Physics::MockConstraintImplementation, SurgSim::Physics::MockRigidConstraintFixedPoint, SurgSim::Physics::MockFixedConstraintFixedPoint, SurgSim::Physics::MassSpringConstraintFrictionlessContact, SurgSim::Physics::RigidConstraintFrictionlessContact, SurgSim::Physics::FixedConstraintFrictionlessContact, SurgSim::Physics::FixedConstraintFixedPoint, SurgSim::Physics::RigidConstraintFixedPoint, SurgSim::Physics::FixedConstraintFixedRotationVector, SurgSim::Physics::RigidConstraintFixedRotationVector, SurgSim::Physics::MassSpringConstraintFixedPoint, SurgSim::Physics::FemConstraintFrictionlessContact, SurgSim::Physics::MassSpringConstraintFrictionalSliding, SurgSim::Physics::FemConstraintFixedPoint, SurgSim::Physics::FemConstraintFixedRotationVector, SurgSim::Physics::FemConstraintFrictionalSliding, and SurgSim::Physics::FemConstraintFrictionlessSliding.

getFactory()

ConstraintImplementationFactory & SurgSim::Physics::ConstraintImplementation::getFactory ( )

static

Returns

The static class factory that contains the implementations for a given Representation type.

getNumDof()

size_t SurgSim::Physics::ConstraintImplementation::getNumDof

(

)

const

Gets the number of degree of freedom for this implementation.

Returns

The number of degree of freedom for this implementation

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

• SurgSim/Physics/ConstraintImplementation.h
• SurgSim/Physics/ConstraintImplementation.cpp