Base class for all FemRepresentation frictional sliding constraint implementation. More...

Inheritance diagram for SurgSim::Physics::FemConstraintFrictionalSliding:

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

virtual	~FemConstraintFrictionalSliding ()
	Destructor. More...

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

Public Member Functions inherited from SurgSim::Physics::ConstraintImplementation
	ConstraintImplementation ()
	Constructor. More...

virtual	~ConstraintImplementation ()
	Destructor. More...

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

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

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

Additional Inherited Members
Static Public Member Functions inherited from SurgSim::Physics::ConstraintImplementation
static ConstraintImplementationFactory &	getFactory ()

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

Detailed Description

Base class for all FemRepresentation frictional sliding constraint implementation.

Constructor & Destructor Documentation

SurgSim::Physics::FemConstraintFrictionalSliding::FemConstraintFrictionalSliding ( )

Constructor.

SurgSim::Physics::FemConstraintFrictionalSliding::~FemConstraintFrictionalSliding ( )

virtual

Destructor.

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

overrideprivatevirtual

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)