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// 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_FEM3DLOCALIZATION_H
#define SURGSIM_PHYSICS_FEM3DLOCALIZATION_H
#include "SurgSim/DataStructures/IndexedLocalCoordinate.h"
#include "SurgSim/Physics/FemLocalization.h"
namespace SurgSim
{
namespace Physics
{
/// Implementation of Localization for Fem3DRepresentation
///
/// Fem3DLocalization tracks the global coordinates of an IndexedLocalCoordinate associated with an
/// Fem3DRepresentation. The IndexedLocalCoordinate must be related to an FemElement (the index is an FemElement id and
/// the local coordinates are the barycentric coordinates of the nodes in this FemElement).
/// It is used, for example, as a helper class for filling out the MlcpPhysicsProblem in
/// Fem3DRepresentationContact::doBuild, which constrains the motion of Fem3DRepresentation at a frictionless contact.
class Fem3DLocalization : public FemLocalization
{
public:
/// Constructor
/// \param representation The representation to assign to this localization.
/// \param localPosition The local position to set the localization at.
Fem3DLocalization(std::shared_ptr<Representation> representation,
const SurgSim::DataStructures::IndexedLocalCoordinate& localPosition);
/// Destructor
virtual ~Fem3DLocalization();
/// Query if 'representation' is valid representation.
/// \param representation The representation.
/// \return true if valid representation, false if not.
bool isValidRepresentation(std::shared_ptr<Representation> representation) override;
};
} // namespace Physics
} // namespace SurgSim
#endif // SURGSIM_PHYSICS_FEM3DLOCALIZATION_H
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