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16 #ifndef SURGSIM_PHYSICS_SLIDINGCONSTRAINTDATA_H
17 #define SURGSIM_PHYSICS_SLIDINGCONSTRAINTDATA_H
58 const std::array<Math::Vector3d, 2>&
getNormals()
const;
93 #endif // SURGSIM_PHYSICS_SLIDINGCONSTRAINTDATA_H
SlidingConstraintData()
Default constructor.
Definition: SlidingConstraintData.cpp:25
Definitions of small fixed-size vector types.
double m_distanceTangent
The distance from origin of the tangential plane.
Definition: SlidingConstraintData.h:83
void setFrictionCoefficient(double mu)
Set the friction coefficient for a frictional sliding constraint.
Definition: SlidingConstraintData.cpp:55
Eigen::Transform< double, 3, Eigen::Isometry > RigidTransform3d
A 3D rigid (isometric) transform, represented as doubles.
Definition: RigidTransform.h:46
Math::Vector3d m_point
The point of constraint.
Definition: SlidingConstraintData.h:74
const double getDistanceTangent() const
Definition: SlidingConstraintData.cpp:82
Eigen::Matrix< double, 3, 1 > Vector3d
A 3D vector of doubles.
Definition: Vector.h:57
Definition: CompoundShapeToGraphics.cpp:30
const Math::Vector3d & getTangent() const
Definition: SlidingConstraintData.cpp:77
double m_mu
Friction coefficient for frictional constraint (unused for frictionless constraint).
Definition: SlidingConstraintData.h:86
Class for Frictionless sliding constraint (stores two planes, the intersection of which,...
Definition: SlidingConstraintData.h:31
Base class for all CosntraintData Derived classes should be specific to a given constraint.
Definition: ConstraintData.h:28
const Math::RigidTransform3d getPose()
/return The pose of constraint
Definition: SlidingConstraintData.cpp:65
virtual ~SlidingConstraintData()
Destructor.
Definition: SlidingConstraintData.cpp:40
Math::Vector3d m_tangent
The tangent of the two planes.
Definition: SlidingConstraintData.h:80
double getFrictionCoefficient() const
Definition: SlidingConstraintData.cpp:60
Math::Vector3d m_slidingDirection
The sliding direction (intersection of the two planes).
Definition: SlidingConstraintData.h:77
void setSlidingDirection(const SurgSim::Math::Vector3d &point, const SurgSim::Math::Vector3d &direction)
Calculate the two plane equations based on the given sliding direction.
Definition: SlidingConstraintData.cpp:44
const std::array< Math::Vector3d, 2 > & getNormals() const
Definition: SlidingConstraintData.cpp:72
std::array< Math::Vector3d, 2 > m_normals
The normals of the two planes.
Definition: SlidingConstraintData.h:71