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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.
#include "SurgSim/Physics/FixedConstraintFixedPoint.h"
#include "SurgSim/Physics/FixedRepresentation.h"
#include "SurgSim/Physics/Localization.h"
using SurgSim::Math::Vector3d;
namespace SurgSim
{
namespace Physics
{
FixedConstraintFixedPoint::FixedConstraintFixedPoint()
{
}
FixedConstraintFixedPoint::~FixedConstraintFixedPoint()
{
}
void FixedConstraintFixedPoint::doBuild(double dt,
const ConstraintData& data,
const std::shared_ptr<Localization>& localization,
MlcpPhysicsProblem* mlcp,
size_t indexOfRepresentation,
size_t indexOfConstraint,
ConstraintSideSign sign)
{
std::shared_ptr<Representation> representation = localization->getRepresentation();
if (!representation->isActive())
{
return;
}
const double scale = (sign == CONSTRAINT_POSITIVE_SIDE) ? 1.0 : -1.0;
Vector3d globalPosition = localization->calculatePosition();
// Fill up b with the constraint equation...
mlcp->b.segment<3>(indexOfConstraint) += globalPosition * scale;
}
SurgSim::Physics::ConstraintType FixedConstraintFixedPoint::getConstraintType() const
{
return SurgSim::Physics::FIXED_3DPOINT;
}
size_t FixedConstraintFixedPoint::doGetNumDof() const
{
return 3;
}
}; // namespace Physics
}; // namespace SurgSim
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