/usr/include/SurgSim/Physics/ConstraintImplementation.h is in libopensurgsim-dev 0.7.0-5.
This file is owned by root:root, with mode 0o644.
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1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 | // 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_CONSTRAINTIMPLEMENTATION_H
#define SURGSIM_PHYSICS_CONSTRAINTIMPLEMENTATION_H
#include <memory>
#include <Eigen/Core>
#include "SurgSim/Physics/Representation.h"
#include "SurgSim/Physics/ConstraintData.h"
#include "SurgSim/Physics/ConstraintImplementationFactory.h"
#include "SurgSim/Physics/ConstraintType.h"
#include "SurgSim/Physics/Localization.h"
#include "SurgSim/Physics/MlcpPhysicsProblem.h"
namespace SurgSim
{
namespace Physics
{
/// Enum defining on which side of the constraint an implementation is (positive or negative side)
/// \note A constraint can be seen as C: side0 = side1 <=> C: side0 - side1 = 0
/// \note Therefore 1 side will have a positive sign (+1), and 1 side a negative sign (-1)
enum ConstraintSideSign {CONSTRAINT_POSITIVE_SIDE, CONSTRAINT_NEGATIVE_SIDE};
/// Base class for all constraint implementations. A ConstraintImplementation defines 1 side of a constraint.
class ConstraintImplementation
{
public:
/// Constructor
ConstraintImplementation();
/// Destructor
virtual ~ConstraintImplementation();
/// \return The static class factory that contains the implementations for a given Representation type.
static ConstraintImplementationFactory& getFactory();
/// Gets the number of degree of freedom for this implementation
/// \return The number of degree of freedom for this implementation
size_t getNumDof() const;
/// Gets the constraint type for this ConstraintImplementation
/// \return The constraint type corresponding to this constraint implementation
virtual SurgSim::Physics::ConstraintType getConstraintType() const = 0;
/// Builds the subset of an Mlcp physics problem associated to this implementation
/// \param dt The time step
/// \param data The data associated to the constraint
/// \param localization The localization for this implementation
/// \param [in, out] mlcp The Mixed LCP physics problem to fill up
/// \param indexOfRepresentation The index of the representation (associated to this implementation) in the mlcp
/// \param indexOfConstraint The index of the constraint in the mlcp
/// \param sign The sign of this implementation in the constraint (positive or negative side)
void build(double dt,
const ConstraintData& data,
const std::shared_ptr<Localization>& localization,
MlcpPhysicsProblem* mlcp,
size_t indexOfRepresentation,
size_t indexOfConstraint,
ConstraintSideSign sign);
protected:
/// Preallocated variable for derived implementations of doBuild.
Eigen::SparseVector<double, Eigen::RowMajor, ptrdiff_t> m_newH;
private:
/// Does get number of degree of freedom
/// \return The number of degree of freedom associated to this implementation
virtual size_t doGetNumDof() const = 0;
/// Builds the subset of an Mlcp physics problem associated to this implementation
/// \param dt The time step
/// \param data The data associated to the constraint
/// \param localization The localization for the constraint
/// \param [in, out] mlcp The Mixed LCP physics problem to fill up
/// \param indexOfRepresentation The index of the representation (associated to this implementation) in the mlcp
/// \param indexOfConstraint The index of the constraint in the mlcp
/// \param sign The sign of this implementation in the constraint (positive or negative side)
virtual void doBuild(double dt,
const ConstraintData& data,
const std::shared_ptr<Localization>& localization,
MlcpPhysicsProblem* mlcp,
size_t indexOfRepresentation,
size_t indexOfConstraint,
ConstraintSideSign sign) = 0;
};
}; // namespace Physics
}; // namespace SurgSim
#endif // SURGSIM_PHYSICS_CONSTRAINTIMPLEMENTATION_H
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