RotationVectorConstraint.h
Go to the documentation of this file.
// 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_ROTATIONVECTORCONSTRAINT_H
#define SURGSIM_PHYSICS_ROTATIONVECTORCONSTRAINT_H
#include "SurgSim/Physics/Constraint.h"
namespace SurgSim
{
namespace Physics
{
class RotationVectorConstraint: public Constraint
{
public:
RotationVectorConstraint(
ConstraintType constraintType,
std::shared_ptr<ConstraintData> data,
std::shared_ptr<Representation> representation0,
const SurgSim::DataStructures::Location& location0,
std::shared_ptr<Representation> representation1,
const SurgSim::DataStructures::Location& location1);
virtual ~RotationVectorConstraint();
protected:
void doBuild(double dt,
const ConstraintData& data,
MlcpPhysicsProblem* mlcpPhysicsProblem,
size_t indexOfRepresentation0,
size_t indexOfRepresentation1,
size_t indexOfConstraint) override;
};
}; // namespace Physics
}; // namespace SurgSim
#endif // SURGSIM_PHYSICS_ROTATIONVECTORCONSTRAINT_H
SurgSim
Definition: CompoundShapeToGraphics.cpp:29
SurgSim::Physics::RotationVectorConstraint::RotationVectorConstraint
RotationVectorConstraint(ConstraintType constraintType, std::shared_ptr< ConstraintData > data, std::shared_ptr< Representation > representation0, const SurgSim::DataStructures::Location &location0, std::shared_ptr< Representation > representation1, const SurgSim::DataStructures::Location &location1)
Definition: RotationVectorConstraint.cpp:26
SurgSim::Physics::RotationVectorConstraint::~RotationVectorConstraint
virtual ~RotationVectorConstraint()
Destructor.
Definition: RotationVectorConstraint.cpp:38
SurgSim::Physics::MlcpPhysicsProblem
A description of a physical mixed LCP system to be solved.
Definition: MlcpPhysicsProblem.h:43
SurgSim::DataStructures::Location
A Location defines a local position w.r.t.
Definition: Location.h:39
SurgSim::Physics::ConstraintData
Base class for all CosntraintData Derived classes should be specific to a given constraint.
Definition: ConstraintData.h:27
SurgSim::Physics::RotationVectorConstraint
Specific class for rotation vector constraints.
Definition: RotationVectorConstraint.h:29
SurgSim::Physics::Constraint
Base class for all physics constraints. Contains data specific to the constraint and a pair of implem...
Definition: Constraint.h:34
Constraint.h
SurgSim::Physics::RotationVectorConstraint::doBuild
void doBuild(double dt, const ConstraintData &data, MlcpPhysicsProblem *mlcpPhysicsProblem, size_t indexOfRepresentation0, size_t indexOfRepresentation1, size_t indexOfConstraint) override
Definition: RotationVectorConstraint.cpp:42
SurgSim::Physics::ConstraintType
ConstraintType
Definition: ConstraintType.h:24