MassSpring frictionless contact implementation. More...

Inheritance diagram for SurgSim::Physics::MassSpringRepresentationContact:

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

virtual	~MassSpringRepresentationContact ()
	Destructor. More...

virtual SurgSim::Math::MlcpConstraintType	getMlcpConstraintType () const override
	Gets the Mixed Linear Complementarity Problem constraint type for this ConstraintImplementation. More...

virtual RepresentationType	getRepresentationType () const override
	Gets the Type of representation that this implementation is concerned with. 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
virtual size_t	doGetNumDof () const override
	Gets the number of degrees of freedom for a frictionless contact. 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) override
	Adds a mass-spring frictionless contact constraint to an MlcpPhysicsProblem. More...

Additional Inherited Members
Protected Attributes inherited from SurgSim::Physics::ConstraintImplementation
Eigen::SparseVector< double, 0, ptrdiff_t >	m_newH
	Preallocated variable for derived implementations of doBuild. More...

Detailed Description

MassSpring frictionless contact implementation.

MassSpringRepresentationContact implements the frictionless contact constraint for the MassSpringRepresentation, which prevents nodes from passing through a surface. See MassSpringRepresentationContact::doBuild for more information.

Constructor & Destructor Documentation

SurgSim::Physics::MassSpringRepresentationContact::MassSpringRepresentationContact ( )

Constructor.

SurgSim::Physics::MassSpringRepresentationContact::~MassSpringRepresentationContact ( )

virtual

Destructor.

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

overrideprivatevirtual

Adds a mass-spring frictionless contact constraint to an MlcpPhysicsProblem.

Parameters

	dt	The time step.
	data	[ContactConstraintData] Plane defining the constraint.
	localization	[MassSpringRepresentationLocalization] Location and Representation to be constrained.
[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).

size_t SurgSim::Physics::MassSpringRepresentationContact::doGetNumDof ( ) const

overrideprivatevirtual

Gets the number of degrees of freedom for a frictionless contact.

Returns: 1, as a frictionless contact only has 1 equation of constraint (along the normal direction).

SurgSim::Math::MlcpConstraintType SurgSim::Physics::MassSpringRepresentationContact::getMlcpConstraintType ( ) const

overridevirtual

Gets the Mixed Linear Complementarity Problem constraint type for this ConstraintImplementation.

SurgSim::Physics::RepresentationType SurgSim::Physics::MassSpringRepresentationContact::getRepresentationType ( ) const

overridevirtual

Gets the Type of representation that this implementation is concerned with.

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