16 #ifndef SURGSIM_PHYSICS_RIGIDREPRESENTATIONBILATERAL3D_H 17 #define SURGSIM_PHYSICS_RIGIDREPRESENTATIONBILATERAL3D_H 63 const std::shared_ptr<Localization>& localization,
65 size_t indexOfRepresentation,
66 size_t indexOfConstraint,
74 #endif // SURGSIM_PHYSICS_RIGIDREPRESENTATIONBILATERAL3D_H Definition: DriveElementFromInputBehavior.cpp:27
RepresentationType
Definition: Representation.h:42
A description of a physical mixed LCP system to be solved.
Definition: MlcpPhysicsProblem.h:43
size_t doGetNumDof() const override
Gets the number of degree of freedom.
Definition: RigidRepresentationBilateral3D.cpp:129
Base class for all CosntraintData Derived classes should be specific to a given constraint.
Definition: ConstraintData.h:27
virtual RepresentationType getRepresentationType() const override
Gets the Type of representation that this implementation is concerned with.
Definition: RigidRepresentationBilateral3D.cpp:124
void doBuild(double dt, const ConstraintData &data, const std::shared_ptr< Localization > &localization, MlcpPhysicsProblem *mlcp, size_t indexOfRepresentation, size_t indexOfConstraint, ConstraintSideSign sign) override
Builds the subset of an Mlcp physics problem associated to this implementation.
Definition: RigidRepresentationBilateral3D.cpp:37
Base class for all constraint implementations. A ConstraintImplementation defines 1 side of a constra...
Definition: ConstraintImplementation.h:40
virtual ~RigidRepresentationBilateral3D()
Destructor.
Definition: RigidRepresentationBilateral3D.cpp:33
RigidRepresentation bilateral 3d constraint implementation.
Definition: RigidRepresentationBilateral3D.h:30
RigidRepresentationBilateral3D()
Constructor.
Definition: RigidRepresentationBilateral3D.cpp:29
ConstraintSideSign
Enum defining on which side of the constraint an implementation is (positive or negative side) ...
Definition: ConstraintImplementation.h:37
MlcpConstraintType
Definition: MlcpConstraintType.h:24
SurgSim::Math::MlcpConstraintType getMlcpConstraintType() const override
Gets the Mixed Linear Complementarity Problem constraint type for this ConstraintImplementation.
Definition: RigidRepresentationBilateral3D.cpp:119