FemConstraintFrictionlessContact.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
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15 
16 #ifndef SURGSIM_PHYSICS_FEMCONSTRAINTFRICTIONLESSCONTACT_H
17 #define SURGSIM_PHYSICS_FEMCONSTRAINTFRICTIONLESSCONTACT_H
18 
20 
21 namespace SurgSim
22 {
23 
24 namespace Physics
25 {
26 
29 {
30 public:
31 
34 
37 
39 
40 private:
41  size_t doGetNumDof() const override;
42 
43  void doBuild(double dt,
44  const ConstraintData& data,
45  const std::shared_ptr<Localization>& localization,
46  MlcpPhysicsProblem* mlcp,
47  size_t indexOfRepresentation,
48  size_t indexOfConstraint,
49  ConstraintSideSign sign) override;
50 
55 
56 };
57 
58 }; // namespace Physics
59 
60 }; // namespace SurgSim
61 
62 #endif // SURGSIM_PHYSICS_FEMCONSTRAINTFRICTIONLESSCONTACT_H
SurgSim::Physics::FemConstraintFrictionlessContact::doGetNumDof
size_t doGetNumDof() const override
Does get number of degree of freedom.
Definition: FemConstraintFrictionlessContact.cpp:117
SurgSim::Physics::FemConstraintFrictionlessContact::m_mlcpNumericalPrecision
double m_mlcpNumericalPrecision
Definition: FemConstraintFrictionlessContact.h:54
SurgSim::Physics::FemConstraintFrictionlessContact::FemConstraintFrictionlessContact
FemConstraintFrictionlessContact()
Constructor.
Definition: FemConstraintFrictionlessContact.cpp:33
SurgSim::Physics::FemConstraintFrictionlessContact::~FemConstraintFrictionlessContact
virtual ~FemConstraintFrictionlessContact()
Destructor.
Definition: FemConstraintFrictionlessContact.cpp:37
ConstraintImplementation.h
SurgSim::Physics::MlcpPhysicsProblem
A description of a physical mixed LCP system to be solved.
Definition: MlcpPhysicsProblem.h:44
SurgSim::Physics::ConstraintImplementation
Base class for all constraint implementations. A ConstraintImplementation defines 1 side of a constra...
Definition: ConstraintImplementation.h:43
SurgSim
Definition: CompoundShapeToGraphics.cpp:30
SurgSim::Physics::ConstraintSideSign
ConstraintSideSign
Enum defining on which side of the constraint an implementation is (positive or negative side)
Definition: ConstraintImplementation.h:39
SurgSim::Physics::FemConstraintFrictionlessContact
Base class for all FemRepresentation frictionless contact constraint implementation.
Definition: FemConstraintFrictionlessContact.h:29
SurgSim::Physics::ConstraintType
ConstraintType
Definition: ConstraintType.h:25
SurgSim::Physics::FemConstraintFrictionlessContact::getConstraintType
SurgSim::Physics::ConstraintType getConstraintType() const override
Gets the constraint type for this ConstraintImplementation.
Definition: FemConstraintFrictionlessContact.cpp:112
SurgSim::Physics::FemConstraintFrictionlessContact::doBuild
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: FemConstraintFrictionlessContact.cpp:41
SurgSim::Physics::ConstraintData
Base class for all CosntraintData Derived classes should be specific to a given constraint.
Definition: ConstraintData.h:28