Base class for all physics constraints. Contains data specific to the constraint and a pair of implementations. More...

#include <SurgSim/Physics/Constraint.h>

Public Member Functions
	Constraint (std::shared_ptr< ConstraintData > data, std::shared_ptr< ConstraintImplementation > implementation0, std::shared_ptr< Localization > localization0, std::shared_ptr< ConstraintImplementation > implementation1, std::shared_ptr< Localization > localization1)
	Sets all the values for this constraints, does validation on the parameters and will throw it something is wrong with the constraint. More...

virtual	~Constraint ()
	Destructor. More...

void	setInformation (std::shared_ptr< ConstraintData > data, std::shared_ptr< ConstraintImplementation > implementation0, std::shared_ptr< Localization > localization0, std::shared_ptr< ConstraintImplementation > implementation1, std::shared_ptr< Localization > localization1)
	Sets all the values for this constraints, does validation on the parameters and will throw it something is wrong with the constraint. More...

const std::pair< std::shared_ptr< ConstraintImplementation >, std::shared_ptr< ConstraintImplementation > > &	getImplementations () const
	Gets both sides implementation as a pair. More...

const std::pair< std::shared_ptr< Localization >, std::shared_ptr< Localization > > &	getLocalizations () const
	Gets both sides Localization as a pair. More...

std::shared_ptr< ConstraintData >	getData () const
	Gets the data associated to this constraint. More...

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

SurgSim::Math::MlcpConstraintType	getType ()
	Gets the ConstraintType for this constraint. More...

void	build (double dt, MlcpPhysicsProblem *mlcpPhysicsProblem, size_t indexOfRepresentation0, size_t indexOfRepresentation1, size_t indexOfConstraint)
	Builds subset of an Mlcp physics problem associated to this constraint. More...

bool	isActive ()

Private Member Functions
virtual void	doBuild (double dt, const ConstraintData &data, MlcpPhysicsProblem *mlcpPhysicsProblem, size_t indexOfRepresentation0, size_t indexOfRepresentation1, size_t indexOfConstraint)
	Builds subset of an Mlcp physics problem associated to this constraint user-defined call for extra treatment. More...

Private Attributes
std::shared_ptr< ConstraintData >	m_data
	Specific data associated to this constraint. More...

std::pair< std::shared_ptr< ConstraintImplementation >, std::shared_ptr< ConstraintImplementation > >	m_implementations
	Pair of implementations defining the 2 sides of the constraint. More...

std::pair< std::shared_ptr< Localization >, std::shared_ptr< Localization > >	m_localizations

size_t	m_numDof
	The degrees of freedom that this constraint has. More...

SurgSim::Math::MlcpConstraintType	m_constraintType
	The type of this constraint. More...

Detailed Description

Base class for all physics constraints. Contains data specific to the constraint and a pair of implementations.

Constructor & Destructor Documentation

SurgSim::Physics::Constraint::Constraint	(	std::shared_ptr< ConstraintData >	data,
		std::shared_ptr< ConstraintImplementation >	implementation0,
		std::shared_ptr< Localization >	localization0,
		std::shared_ptr< ConstraintImplementation >	implementation1,
		std::shared_ptr< Localization >	localization1
	)

Sets all the values for this constraints, does validation on the parameters and will throw it something is wrong with the constraint.

Parameters

data	The data for this constraint.
implementation0,implementation1	Both sides implementation of the constraint.
localization0,localization1	Both localizations of the representations involved in this constraint.

SurgSim::Physics::Constraint::~Constraint ( )

virtual

Destructor.

Member Function Documentation

void SurgSim::Physics::Constraint::build	(	double	dt,
		MlcpPhysicsProblem *	mlcpPhysicsProblem,
		size_t	indexOfRepresentation0,
		size_t	indexOfRepresentation1,
		size_t	indexOfConstraint
	)

Builds subset of an Mlcp physics problem associated to this constraint.

Parameters

	dt	The time step.
[in,out]	mlcpPhysicsProblem	The Mlcp physics problem to be filled up.
	indexOfRepresentation0	The index of the 1st representation in the Mlcp.
	indexOfRepresentation1	The index of the 2nd representation in the Mlcp.
	indexOfConstraint	The index of this constraint in the Mlcp.

void SurgSim::Physics::Constraint::doBuild	(	double	dt,
		const ConstraintData &	data,
		MlcpPhysicsProblem *	mlcpPhysicsProblem,
		size_t	indexOfRepresentation0,
		size_t	indexOfRepresentation1,
		size_t	indexOfConstraint
	)

privatevirtual

Builds subset of an Mlcp physics problem associated to this constraint user-defined call for extra treatment.

Parameters

	dt	The time step
	data	The data specific to this constraint
[in,out]	mlcpPhysicsProblem	The Mlcp physics problem to be filled up
	indexOfRepresentation0	The index of the 1st representation in the Mlcp
	indexOfRepresentation1	The index of the 2nd representation in the Mlcp
	indexOfConstraint	The index of this constraint in the Mlcp

std::shared_ptr< ConstraintData > SurgSim::Physics::Constraint::getData ( ) const

Gets the data associated to this constraint.

Returns: The data associated to this constraint.

const std::pair< std::shared_ptr< ConstraintImplementation >, std::shared_ptr< ConstraintImplementation > > & SurgSim::Physics::Constraint::getImplementations ( ) const

Gets both sides implementation as a pair.

Returns: the pair of implementations forming this constraint.

const std::pair< std::shared_ptr< Localization >, std::shared_ptr< Localization > > & SurgSim::Physics::Constraint::getLocalizations ( ) const

Gets both sides Localization as a pair.

Returns: the pair of localizations forming this constraint.

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

Gets the number of degree of freedom for this constraint.

Returns: The number of degree of freedom for this constraint.

SurgSim::Math::MlcpConstraintType SurgSim::Physics::Constraint::getType ( )

Gets the ConstraintType for this constraint.

Returns: The type.

bool SurgSim::Physics::Constraint::isActive ( )

Returns: Whether this constraint is active.

void SurgSim::Physics::Constraint::setInformation	(	std::shared_ptr< ConstraintData >	data,
		std::shared_ptr< ConstraintImplementation >	implementation0,
		std::shared_ptr< Localization >	localization0,
		std::shared_ptr< ConstraintImplementation >	implementation1,
		std::shared_ptr< Localization >	localization1
	)

Sets all the values for this constraints, does validation on the parameters and will throw it something is wrong with the constraint.

Parameters

data	The data for this constraint.
implementation0,implementation1	Both sides implementation of the constraint.
localization0,localization1	Both localizations of the representations involved in this constraint.

Member Data Documentation

SurgSim::Math::MlcpConstraintType SurgSim::Physics::Constraint::m_constraintType

private

The type of this constraint.

std::shared_ptr<ConstraintData> SurgSim::Physics::Constraint::m_data

private

Specific data associated to this constraint.

std::pair<std::shared_ptr<ConstraintImplementation>, std::shared_ptr<ConstraintImplementation> > SurgSim::Physics::Constraint::m_implementations

private

Pair of implementations defining the 2 sides of the constraint.

std::pair<std::shared_ptr<Localization>, std::shared_ptr<Localization> > SurgSim::Physics::Constraint::m_localizations

private

size_t SurgSim::Physics::Constraint::m_numDof

private

The degrees of freedom that this constraint has.

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

SurgSim/Physics/Constraint.h
SurgSim/Physics/Constraint.cpp

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation