SurgSim
Math
MlcpConstraintType.h
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// This file is a part of the OpenSurgSim project.
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// Copyright 2013, SimQuest Solutions Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef SURGSIM_MATH_MLCPCONSTRAINTTYPE_H
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#define SURGSIM_MATH_MLCPCONSTRAINTTYPE_H
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namespace
SurgSim
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{
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namespace
Math
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{
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enum
MlcpConstraintType
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{
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// Invalid value -- not used for any constraint type
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MLCP_INVALID_CONSTRAINT
= -1,
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// Fixing 1 DOF
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MLCP_BILATERAL_1D_CONSTRAINT
= 0,
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// Fixing 2 DOF
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MLCP_BILATERAL_2D_CONSTRAINT
,
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// Fixing 3 DOF (could be a fixed point in 3D space for example)
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MLCP_BILATERAL_3D_CONSTRAINT
,
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// Fixing 4 DOF (could be a fixed point with twist included for the MechanicalSpline for example)
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// MLCP_BILATERAL_4D_CONSTRAINT,
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// Frictionless contact (could be in 2D or 3D => only 1 atomic unilateral constraint)
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MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT
,
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// Frictional contact in 3D, using Coulomb friction => 1 entry in the friction coefficient array !
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MLCP_UNILATERAL_3D_FRICTIONAL_CONSTRAINT
,
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// Frictionless suturing in 3D => 2 directional constraint = 2 bilateral constraints !
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MLCP_BILATERAL_FRICTIONLESS_SLIDING_CONSTRAINT
,
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// Frictional suturing in 3D => 2 directional constraint + 1 frictional tangent constraint linked by Coulomb's law
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MLCP_BILATERAL_FRICTIONAL_SLIDING_CONSTRAINT
,
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MLCP_NUM_CONSTRAINT_TYPES
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};
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};
// namespace Math
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};
// namespace SurgSim
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#endif // SURGSIM_MATH_MLCPCONSTRAINTTYPE_H
SurgSim::Math::MLCP_BILATERAL_FRICTIONLESS_SLIDING_CONSTRAINT
Definition:
MlcpConstraintType.h:41
SurgSim::Math::MlcpConstraintType
MlcpConstraintType
Definition:
MlcpConstraintType.h:24
SurgSim::Math::MLCP_BILATERAL_3D_CONSTRAINT
Definition:
MlcpConstraintType.h:33
SurgSim
Definition:
CompoundShapeToGraphics.cpp:29
SurgSim::Math::MLCP_UNILATERAL_3D_FRICTIONLESS_CONSTRAINT
Definition:
MlcpConstraintType.h:37
SurgSim::Math::MLCP_NUM_CONSTRAINT_TYPES
Definition:
MlcpConstraintType.h:44
SurgSim::Math::MLCP_BILATERAL_2D_CONSTRAINT
Definition:
MlcpConstraintType.h:31
SurgSim::Math::MLCP_UNILATERAL_3D_FRICTIONAL_CONSTRAINT
Definition:
MlcpConstraintType.h:39
SurgSim::Math::MLCP_BILATERAL_FRICTIONAL_SLIDING_CONSTRAINT
Definition:
MlcpConstraintType.h:43
SurgSim::Math::MLCP_BILATERAL_1D_CONSTRAINT
Definition:
MlcpConstraintType.h:29
SurgSim::Math::MLCP_INVALID_CONSTRAINT
Definition:
MlcpConstraintType.h:27
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