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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_FIXEDCONSTRAINTFRICTIONLESSCONTACT_H
#define SURGSIM_PHYSICS_FIXEDCONSTRAINTFRICTIONLESSCONTACT_H
#include "SurgSim/Physics/ConstraintImplementation.h"
#include "SurgSim/Math/Vector.h"
namespace SurgSim
{
namespace Physics
{
/// FixedRepresentation frictionless contact implementation.
class FixedConstraintFrictionlessContact : public ConstraintImplementation
{
public:
/// Constructor
FixedConstraintFrictionlessContact();
/// Destructor
virtual ~FixedConstraintFrictionlessContact();
/// Gets the constraint type for this ConstraintImplementation
/// \return The constraint type corresponding to this constraint implementation
SurgSim::Physics::ConstraintType getConstraintType() const override;
private:
/// Gets the number of degree of freedom.
/// \return 1 as a frictionless contact is formed of 1 equation of constraint (along the normal direction).
size_t doGetNumDof() const override;
/// 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 representation.
/// \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).
/// \note Empty for a Fixed Representation
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_FIXEDCONSTRAINTFRICTIONLESSCONTACT_H
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