MassSpring frictionless contact implementation. More...

Inheritance diagram for SurgSim::Physics::MassSpringConstraintFrictionlessContact:

Public Member Functions
	MassSpringConstraintFrictionlessContact ()
	Constructor.

virtual	~MassSpringConstraintFrictionlessContact ()
	Destructor.

SurgSim::Physics::ConstraintType	getConstraintType () const override
	Gets the constraint type for this ConstraintImplementation. More...

Public Member Functions inherited from SurgSim::Physics::ConstraintImplementation
	ConstraintImplementation ()
	Constructor.

virtual	~ConstraintImplementation ()
	Destructor.

size_t	getNumDof () const
	Gets the number of degree of freedom for this implementation. 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...

Additional Inherited Members
Static Public Member Functions inherited from SurgSim::Physics::ConstraintImplementation
static ConstraintImplementationFactory &	getFactory ()

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

Detailed Description

MassSpring frictionless contact implementation.

MassSpringConstraintFrictionlessContact implements the frictionless contact constraint for the MassSpringRepresentation, which prevents nodes from passing through a surface. See MassSpringConstraintFrictionlessContact::doBuild for more information.

Member Function Documentation

SurgSim::Physics::ConstraintType SurgSim::Physics::MassSpringConstraintFrictionlessContact::getConstraintType ( ) const

overridevirtual

Gets the constraint type for this ConstraintImplementation.

Returns: The constraint type corresponding to this constraint implementation

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