Base class for all constraint implementations. A ConstraintImplementation defines 1 side of a constraint. More...

#include <SurgSim/Physics/ConstraintImplementation.h>

Inheritance diagram for SurgSim::Physics::ConstraintImplementation:

Public Member Functions
	ConstraintImplementation ()
	Constructor. More...

virtual	~ConstraintImplementation ()
	Destructor. More...

size_t	getNumDof () const
	Gets the number of degree of freedom for this implementation. More...

virtual SurgSim::Physics::ConstraintType	getConstraintType () const =0
	Gets the constraint type for this ConstraintImplementation. More...

void	build (double dt, const ConstraintData &data, const std::shared_ptr< Localization > &localization, MlcpPhysicsProblem *mlcp, size_t indexOfRepresentation, size_t indexOfConstraint, ConstraintSideSign sign)
	Builds the subset of an Mlcp physics problem associated to this implementation. More...

Static Public Member Functions
static ConstraintImplementationFactory &	getFactory ()

Protected Attributes
Eigen::SparseVector< double, Eigen::RowMajor, ptrdiff_t >	m_newH
	Preallocated variable for derived implementations of doBuild. More...

Private Member Functions
virtual size_t	doGetNumDof () const =0
	Does get number of degree of freedom. More...

virtual void	doBuild (double dt, const ConstraintData &data, const std::shared_ptr< Localization > &localization, MlcpPhysicsProblem *mlcp, size_t indexOfRepresentation, size_t indexOfConstraint, ConstraintSideSign sign)=0
	Builds the subset of an Mlcp physics problem associated to this implementation. More...

Detailed Description

Base class for all constraint implementations. A ConstraintImplementation defines 1 side of a constraint.

Constructor & Destructor Documentation

◆ ConstraintImplementation()

SurgSim::Physics::ConstraintImplementation::ConstraintImplementation ( )

Constructor.

◆ ~ConstraintImplementation()

SurgSim::Physics::ConstraintImplementation::~ConstraintImplementation ( )

virtual

Destructor.

Member Function Documentation

◆ build()

void SurgSim::Physics::ConstraintImplementation::build	(	double	dt,
		const ConstraintData &	data,
		const std::shared_ptr< Localization > &	localization,
		MlcpPhysicsProblem *	mlcp,
		size_t	indexOfRepresentation,
		size_t	indexOfConstraint,
		ConstraintSideSign	sign
	)

Builds the subset of an Mlcp physics problem associated to this implementation.

Parameters

	dt	The time step
	data	The data associated to the constraint
	localization	The localization for this implementation
[in,out]	mlcp	The Mixed LCP physics problem to fill up
	indexOfRepresentation	The index of the representation (associated to this implementation) in the mlcp
	indexOfConstraint	The index of the constraint in the mlcp
	sign	The sign of this implementation in the constraint (positive or negative side)

◆ doBuild()

virtual void SurgSim::Physics::ConstraintImplementation::doBuild	(	double	dt,
		const ConstraintData &	data,
		const std::shared_ptr< Localization > &	localization,
		MlcpPhysicsProblem *	mlcp,
		size_t	indexOfRepresentation,
		size_t	indexOfConstraint,
		ConstraintSideSign	sign
	)

privatepure virtual

Builds the subset of an Mlcp physics problem associated to this implementation.

Parameters

	dt	The time step
	data	The data associated to the constraint
	localization	The localization for the constraint
[in,out]	mlcp	The Mixed LCP physics problem to fill up
	indexOfRepresentation	The index of the representation (associated to this implementation) in the mlcp
	indexOfConstraint	The index of the constraint in the mlcp
	sign	The sign of this implementation in the constraint (positive or negative side)

◆ doGetNumDof()

virtual size_t SurgSim::Physics::ConstraintImplementation::doGetNumDof ( ) const

privatepure virtual

Does get number of degree of freedom.

Returns: The number of degree of freedom associated to this implementation

◆ getConstraintType()

virtual SurgSim::Physics::ConstraintType SurgSim::Physics::ConstraintImplementation::getConstraintType ( ) const

pure virtual

Gets the constraint type for this ConstraintImplementation.

Returns: The constraint type corresponding to this constraint implementation

◆ getFactory()

ConstraintImplementationFactory & SurgSim::Physics::ConstraintImplementation::getFactory ( )

static

Returns: The static class factory that contains the implementations for a given Representation type.

◆ getNumDof()

size_t SurgSim::Physics::ConstraintImplementation::getNumDof ( ) const

Gets the number of degree of freedom for this implementation.

Returns: The number of degree of freedom for this implementation

Member Data Documentation

◆ m_newH

Eigen::SparseVector<double, Eigen::RowMajor, ptrdiff_t> SurgSim::Physics::ConstraintImplementation::m_newH

protected

Preallocated variable for derived implementations of doBuild.

The documentation for this class was generated from the following files:

SurgSim/Physics/ConstraintImplementation.h
SurgSim/Physics/ConstraintImplementation.cpp

Public Member Functions

Static Public Member Functions

Protected Attributes

Private Member Functions