Fem3DRepresentationContact.h
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1 // This file is a part of the OpenSurgSim project.
2 // Copyright 2013, SimQuest Solutions Inc.
3 //
4 // Licensed under the Apache License, Version 2.0 (the "License");
5 // you may not use this file except in compliance with the License.
6 // You may obtain a copy of the License at
7 //
8 // http://www.apache.org/licenses/LICENSE-2.0
9 //
10 // Unless required by applicable law or agreed to in writing, software
11 // distributed under the License is distributed on an "AS IS" BASIS,
12 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 // See the License for the specific language governing permissions and
14 // limitations under the License.
15 
16 #ifndef SURGSIM_PHYSICS_FEM3DREPRESENTATIONCONTACT_H
17 #define SURGSIM_PHYSICS_FEM3DREPRESENTATIONCONTACT_H
18 
20 
21 namespace SurgSim
22 {
23 
24 namespace Physics
25 {
26 
29 {
30 public:
32  explicit Fem3DRepresentationContact();
33 
36 
40 
43  virtual RepresentationType getRepresentationType() const override;
44 
45 private:
48  size_t doGetNumDof() const override;
49 
59  void doBuild(double dt,
60  const ConstraintData& data,
61  const std::shared_ptr<Localization>& localization,
62  MlcpPhysicsProblem* mlcp,
63  size_t indexOfRepresentation,
64  size_t indexOfConstraint,
65  ConstraintSideSign sign) override;
66 
67 };
68 
69 }; // namespace Physics
70 
71 }; // namespace SurgSim
72 
73 #endif // SURGSIM_PHYSICS_FEM3DREPRESENTATIONCONTACT_H
Definition: DriveElementFromInputBehavior.cpp:27
size_t doGetNumDof() const override
Gets the number of degree of freedom.
Definition: Fem3DRepresentationContact.cpp:123
RepresentationType
Definition: Representation.h:42
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: Fem3DRepresentationContact.cpp:38
A description of a physical mixed LCP system to be solved.
Definition: MlcpPhysicsProblem.h:43
Fem3DRepresentationContact()
Constructor.
Definition: Fem3DRepresentationContact.cpp:30
SurgSim::Math::MlcpConstraintType getMlcpConstraintType() const override
Gets the Mixed Linear Complementarity Problem constraint type for this ConstraintImplementation.
Definition: Fem3DRepresentationContact.cpp:113
Base class for all CosntraintData Derived classes should be specific to a given constraint.
Definition: ConstraintData.h:27
virtual ~Fem3DRepresentationContact()
Destructor.
Definition: Fem3DRepresentationContact.cpp:34
Base class for all constraint implementations. A ConstraintImplementation defines 1 side of a constra...
Definition: ConstraintImplementation.h:40
virtual RepresentationType getRepresentationType() const override
Gets the Type of representation that this implementation is concerned with.
Definition: Fem3DRepresentationContact.cpp:118
ConstraintSideSign
Enum defining on which side of the constraint an implementation is (positive or negative side) ...
Definition: ConstraintImplementation.h:37
Fem3DRepresentation frictionless contact implementation.
Definition: Fem3DRepresentationContact.h:28
MlcpConstraintType
Definition: MlcpConstraintType.h:24