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16 #ifndef SURGSIM_PHYSICS_MLCPPHYSICSPROBLEM_H
17 #define SURGSIM_PHYSICS_MLCPPHYSICSPROBLEM_H
56 Eigen::SparseMatrix<double, Eigen::RowMajor, ptrdiff_t>
H;
68 const Eigen::SparseVector<double, Eigen::RowMajor, ptrdiff_t>& newSubH,
77 void setZero(
size_t numDof,
size_t numConstraintDof,
size_t numConstraints)
override;
90 #endif // SURGSIM_PHYSICS_MLCPPHYSICSPROBLEM_H
~MlcpPhysicsProblem() override
Destructor.
Definition: MlcpPhysicsProblem.cpp:26
Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic > Matrix
Definition: MlcpProblem.h:62
void setZero(size_t numDof, size_t numConstraintDof, size_t numConstraints) override
Resize an MlcpPhysicsProblem and set to zero.
Definition: MlcpPhysicsProblem.cpp:30
A description of a physical mixed LCP system to be solved.
Definition: MlcpPhysicsProblem.h:44
Definitions of useful sparse matrix functions.
Definition: CompoundShapeToGraphics.cpp:30
static MlcpPhysicsProblem Zero(size_t numDof, size_t numConstraintDof, size_t numConstraints)
Initialize an MlcpPhysicsProblem with zero values.
Definition: MlcpPhysicsProblem.cpp:38
A description of an MLCP (mixed linear complementarity problem, or mixed LCP) system to be solved.
Definition: MlcpProblem.h:58
Eigen::Matrix< double, Eigen::Dynamic, 1 > Vector
Definition: MlcpProblem.h:63
void updateConstraint(const Eigen::SparseVector< double, Eigen::RowMajor, ptrdiff_t > &newSubH, const Vector &newCHt, size_t indexSubC, size_t indexNewSubH)
Applies a new constraint to a specific Representation.
Definition: MlcpPhysicsProblem.cpp:46
Eigen::SparseMatrix< double, Eigen::RowMajor, ptrdiff_t > H
The matrix , which is a matrix of size that converts from the degrees of freedom in the system (i....
Definition: MlcpPhysicsProblem.h:56
Matrix CHt
The matrix , which is a matrix of size that is used to convert the vector of constraint forces to t...
Definition: MlcpPhysicsProblem.h:60