RigidRepresentation frictionless contact implementation.
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#include <SurgSim/Physics/RigidConstraintFrictionlessContact.h>
RigidRepresentation frictionless contact implementation.
§ RigidConstraintFrictionlessContact()
SurgSim::Physics::RigidConstraintFrictionlessContact::RigidConstraintFrictionlessContact |
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§ ~RigidConstraintFrictionlessContact()
SurgSim::Physics::RigidConstraintFrictionlessContact::~RigidConstraintFrictionlessContact |
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§ doBuild()
Builds the subset of an Mlcp physics problem associated to this implementation.
- Parameters
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| dt | The time step. |
| data | The data associated to the constraint. |
| localization | The localization for the representation. |
[in,out] | mlcp | The Mixed LCP physics problem to fill up. |
| indexOfRepresentation | The index of the representation (associated to this implementation) in the mlcp. |
| indexOfConstraint | The index of the constraint in the mlcp. |
| sign | The sign of this implementation in the constraint (positive or negative side). |
Implements SurgSim::Physics::ConstraintImplementation.
§ doGetNumDof()
size_t SurgSim::Physics::RigidConstraintFrictionlessContact::doGetNumDof |
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Gets the number of degree of freedom for a frictionless contact.
- Returns
- 1 as a frictionless contact only has 1 equation of constraint (along the normal direction).
Implements SurgSim::Physics::ConstraintImplementation.
§ getConstraintType()
The documentation for this class was generated from the following files: