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16 #ifndef SURGSIM_PHYSICS_SLIDINGCONSTRAINT_H
17 #define SURGSIM_PHYSICS_SLIDINGCONSTRAINT_H
48 std::shared_ptr<ConstraintData> data,
49 std::shared_ptr<Representation> representation0,
51 std::shared_ptr<Representation> representation1,
62 size_t indexOfRepresentation0,
63 size_t indexOfRepresentation1,
64 size_t indexOfConstraint)
override;
77 #endif // SURGSIM_PHYSICS_SLIDINGCONSTRAINT_H
virtual ~SlidingConstraint()
Destructor.
Definition: SlidingConstraint.cpp:49
std::shared_ptr< SlidingConstraintData > m_slidingConstraintData
The sliding constraint data.
Definition: SlidingConstraint.h:67
Base class for all physics constraints. Contains data specific to the constraint and a pair of implem...
Definition: Constraint.h:35
Sliding constraint between two physics representations.
Definition: SlidingConstraint.h:36
A description of a physical mixed LCP system to be solved.
Definition: MlcpPhysicsProblem.h:44
Eigen::Matrix< double, 3, 1 > Vector3d
A 3D vector of doubles.
Definition: Vector.h:57
Definition: CompoundShapeToGraphics.cpp:30
ConstraintType
Definition: ConstraintType.h:25
SlidingConstraint(ConstraintType constraintType, std::shared_ptr< ConstraintData > data, std::shared_ptr< Representation > representation0, const SurgSim::DataStructures::Location &location0, std::shared_ptr< Representation > representation1, const SurgSim::DataStructures::Location &location1, const Math::Vector3d &slidingDirection)
Sets all the values for this constraints, does validation on the parameters and will throw if somethi...
Definition: SlidingConstraint.cpp:32
Base class for all CosntraintData Derived classes should be specific to a given constraint.
Definition: ConstraintData.h:28
A Location defines a local position w.r.t.
Definition: Location.h:40
void doBuild(double dt, const ConstraintData &data, MlcpPhysicsProblem *mlcpPhysicsProblem, size_t indexOfRepresentation0, size_t indexOfRepresentation1, size_t indexOfConstraint) override
Builds subset of an Mlcp physics problem associated to this constraint user-defined call for extra tr...
Definition: SlidingConstraint.cpp:53
Math::Vector3d m_directionEnd
The end of the sliding direction, local to the representation1.
Definition: SlidingConstraint.h:70