16 #ifndef SURGSIM_PHYSICS_CONSTRAINTIMPLEMENTATION_H 17 #define SURGSIM_PHYSICS_CONSTRAINTIMPLEMENTATION_H 75 const std::shared_ptr<Localization>& localization,
77 size_t indexOfRepresentation,
78 size_t indexOfConstraint,
81 doBuild(dt, data, localization, mlcp, indexOfRepresentation, indexOfConstraint, sign);
86 Eigen::SparseVector<double, 0, ptrdiff_t>
m_newH;
102 virtual void doBuild(
double dt,
104 const std::shared_ptr<Localization>& localization,
106 size_t indexOfRepresentation,
107 size_t indexOfConstraint,
116 #endif // SURGSIM_PHYSICS_CONSTRAINTIMPLEMENTATION_H
Definition: DriveElementFromInputBehavior.cpp:27
virtual size_t doGetNumDof() const =0
Does get number of degree of freedom.
RepresentationType
Definition: Representation.h:42
A description of a physical mixed LCP system to be solved.
Definition: MlcpPhysicsProblem.h:43
ConstraintImplementation()
Constructor.
Definition: ConstraintImplementation.cpp:26
Base class for all CosntraintData Derived classes should be specific to a given constraint.
Definition: ConstraintData.h:27
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.
Definition: ConstraintImplementation.h:73
Definition: ConstraintImplementation.h:37
virtual SurgSim::Math::MlcpConstraintType getMlcpConstraintType() const =0
Gets the Mixed Linear Complementarity Problem constraint type for this ConstraintImplementation.
virtual void doBuild(double dt, const ConstraintData &data, const std::shared_ptr< Localization > &localization, MlcpPhysicsProblem *mlcp, size_t indexOfRepresentation, size_t indexOfConstraint, ConstraintSideSign sign)=0
Builds the subset of an Mlcp physics problem associated to this implementation.
Base class for all constraint implementations. A ConstraintImplementation defines 1 side of a constra...
Definition: ConstraintImplementation.h:40
Definition: ConstraintImplementation.h:37
Eigen::SparseVector< double, 0, ptrdiff_t > m_newH
Preallocated variable for derived implementations of doBuild.
Definition: ConstraintImplementation.h:86
ConstraintSideSign
Enum defining on which side of the constraint an implementation is (positive or negative side) ...
Definition: ConstraintImplementation.h:37
virtual ~ConstraintImplementation()
Destructor.
Definition: ConstraintImplementation.cpp:30
size_t getNumDof() const
Gets the number of degree of freedom for this implementation.
Definition: ConstraintImplementation.h:52
MlcpConstraintType
Definition: MlcpConstraintType.h:24
virtual RepresentationType getRepresentationType() const =0
Gets the Type of representation that this implementation is concerned with.