BuildMlcp.h
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// This file is a part of the OpenSurgSim project.
// Copyright 2013, SimQuest Solutions Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef SURGSIM_PHYSICS_BUILDMLCP_H
#define SURGSIM_PHYSICS_BUILDMLCP_H
#include "SurgSim/Framework/Macros.h"
#include "SurgSim/Physics/Computation.h"
namespace SurgSim
{
namespace Physics
{
class BuildMlcp : public Computation
{
public:
explicit BuildMlcp(bool doCopyState = false);
SURGSIM_CLASSNAME(SurgSim::Physics::BuildMlcp);
virtual ~BuildMlcp();
protected:
std::shared_ptr<PhysicsManagerState> doUpdate(const double& dt, const std::shared_ptr<PhysicsManagerState>& state)
override;
};
}; // namespace Physics
}; // namespace SurgSim
#endif // SURGSIM_PHYSICS_BUILDMLCP_H
SurgSim
Definition: CompoundShapeToGraphics.cpp:29
SurgSim::Physics::BuildMlcp::~BuildMlcp
virtual ~BuildMlcp()
Destructor.
Definition: BuildMlcp.cpp:36
SurgSim::Physics::BuildMlcp::SURGSIM_CLASSNAME
SURGSIM_CLASSNAME(SurgSim::Physics::BuildMlcp)
Macros.h
SurgSim::Physics::BuildMlcp
Build an mlcp from a list of constraints stored in a PhysicsManagerState.
Definition: BuildMlcp.h:28
SurgSim::Physics::Computation
Encapsulates a calculation over a selection of objects, needs to be subclassed to be used...
Definition: Computation.h:32
SurgSim::Physics::BuildMlcp::BuildMlcp
BuildMlcp(bool doCopyState=false)
Constructor.
Definition: BuildMlcp.cpp:33
SurgSim::Physics::BuildMlcp::doUpdate
std::shared_ptr< PhysicsManagerState > doUpdate(const double &dt, const std::shared_ptr< PhysicsManagerState > &state) override
Override doUpdate from superclass.
Definition: BuildMlcp.cpp:40
Computation.h