/usr/include/SurgSim/Physics/MassSpringConstraintFixedPoint.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 | // 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_MASSSPRINGCONSTRAINTFIXEDPOINT_H
#define SURGSIM_PHYSICS_MASSSPRINGCONSTRAINTFIXEDPOINT_H
#include "SurgSim/Physics/ConstraintImplementation.h"
namespace SurgSim
{
namespace Physics
{
/// MassSpringRepresentation bilateral 3d constraint implementation.
///
/// The family of FixedPoint constraints enforce equality between two points.
class MassSpringConstraintFixedPoint : public ConstraintImplementation
{
public:
/// Constructor
MassSpringConstraintFixedPoint();
/// Destructor
virtual ~MassSpringConstraintFixedPoint();
SurgSim::Physics::ConstraintType getConstraintType() const override;
private:
size_t doGetNumDof() const override;
void doBuild(double dt,
const ConstraintData& data,
const std::shared_ptr<Localization>& localization,
MlcpPhysicsProblem* mlcp,
size_t indexOfRepresentation,
size_t indexOfConstraint,
ConstraintSideSign sign) override;
};
}; // namespace Physics
}; // namespace SurgSim
#endif // SURGSIM_PHYSICS_MASSSPRINGCONSTRAINTFIXEDPOINT_H
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