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16 #ifndef SURGSIM_PHYSICS_FEMCONSTRAINTFRICTIONALSLIDING_H
17 #define SURGSIM_PHYSICS_FEMCONSTRAINTFRICTIONALSLIDING_H
44 const std::shared_ptr<Localization>& localization,
46 size_t indexOfRepresentation,
47 size_t indexOfConstraint,
55 #endif // SURGSIM_PHYSICS_FEMCONSTRAINTFRICTIONALSLIDING_H
Base class for all FemRepresentation frictional sliding constraint implementation.
Definition: FemConstraintFrictionalSliding.h:28
A description of a physical mixed LCP system to be solved.
Definition: MlcpPhysicsProblem.h:43
Base class for all constraint implementations. A ConstraintImplementation defines 1 side of a constra...
Definition: ConstraintImplementation.h:42
size_t doGetNumDof() const override
Does get number of degree of freedom.
Definition: FemConstraintFrictionalSliding.cpp:100
Definition: CompoundShapeToGraphics.cpp:29
ConstraintSideSign
Enum defining on which side of the constraint an implementation is (positive or negative side)
Definition: ConstraintImplementation.h:39
ConstraintType
Definition: ConstraintType.h:24
Base class for all CosntraintData Derived classes should be specific to a given constraint.
Definition: ConstraintData.h:27
FemConstraintFrictionalSliding()
Constructor.
Definition: FemConstraintFrictionalSliding.cpp:32
SurgSim::Physics::ConstraintType getConstraintType() const override
Gets the constraint type for this ConstraintImplementation.
Definition: FemConstraintFrictionalSliding.cpp:95
void doBuild(double dt, const ConstraintData &data, const std::shared_ptr< Localization > &localization, MlcpPhysicsProblem *mlcp, size_t indexOfRepresentation, size_t indexOfConstraint, ConstraintSideSign sign) override
Builds the subset of an Mlcp physics problem associated to this implementation.
Definition: FemConstraintFrictionalSliding.cpp:40
virtual ~FemConstraintFrictionalSliding()
Destructor.
Definition: FemConstraintFrictionalSliding.cpp:36