Base class for all FemRepresentation frictionless contact constraint implementation.
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#include <SurgSim/Physics/FemConstraintFrictionlessContact.h>
Base class for all FemRepresentation frictionless contact constraint implementation.
◆ FemConstraintFrictionlessContact()
SurgSim::Physics::FemConstraintFrictionlessContact::FemConstraintFrictionlessContact |
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◆ ~FemConstraintFrictionlessContact()
SurgSim::Physics::FemConstraintFrictionlessContact::~FemConstraintFrictionlessContact |
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virtual |
◆ 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 constraint |
[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::FemConstraintFrictionlessContact::doGetNumDof |
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◆ getConstraintType()
◆ m_mlcpNumericalPrecision
double SurgSim::Physics::FemConstraintFrictionlessContact::m_mlcpNumericalPrecision |
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private |
- Note
- accounts for the mlcp precision, so that the contact point is not floating around the solution plane (with a precision of +-e due to the mlcp, but floating above this plane, so the contact is actually verified at the end)
The documentation for this class was generated from the following files: