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16 #ifndef SURGSIM_PHYSICS_FIXEDCONSTRAINTFIXEDROTATIONVECTOR_H
17 #define SURGSIM_PHYSICS_FIXEDCONSTRAINTFIXEDROTATIONVECTOR_H
56 const std::shared_ptr<Localization>& localization,
58 size_t indexOfRepresentation,
59 size_t indexOfConstraint,
68 #endif // SURGSIM_PHYSICS_FIXEDCONSTRAINTFIXEDROTATIONVECTOR_H
FixedRepresentation fixed rotation vector constraint.
Definition: FixedConstraintFixedRotationVector.h:32
A description of a physical mixed LCP system to be solved.
Definition: MlcpPhysicsProblem.h:44
Base class for all constraint implementations. A ConstraintImplementation defines 1 side of a constra...
Definition: ConstraintImplementation.h:43
size_t doGetNumDof() const override
Does get number of degree of freedom.
Definition: FixedConstraintFixedRotationVector.cpp:65
Definition: CompoundShapeToGraphics.cpp:30
ConstraintSideSign
Enum defining on which side of the constraint an implementation is (positive or negative side)
Definition: ConstraintImplementation.h:39
void doBuild(double dt, const ConstraintData &data, const std::shared_ptr< Localization > &localization, MlcpPhysicsProblem *mlcp, size_t indexOfRepresentation, size_t indexOfConstraint, ConstraintSideSign sign) override
Definition: FixedConstraintFixedRotationVector.cpp:37
ConstraintType
Definition: ConstraintType.h:25
SurgSim::Physics::ConstraintType getConstraintType() const override
Gets the constraint type for this ConstraintImplementation.
Definition: FixedConstraintFixedRotationVector.cpp:60
Base class for all CosntraintData Derived classes should be specific to a given constraint.
Definition: ConstraintData.h:28
FixedConstraintFixedRotationVector()
Constructor.
Definition: FixedConstraintFixedRotationVector.cpp:29
virtual ~FixedConstraintFixedRotationVector()
Destructor.
Definition: FixedConstraintFixedRotationVector.cpp:33