SurgSim
Physics
BuildMlcp.h
Go to the documentation of this file.
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// This file is a part of the OpenSurgSim project.
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// Copyright 2013, SimQuest Solutions Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef SURGSIM_PHYSICS_BUILDMLCP_H
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#define SURGSIM_PHYSICS_BUILDMLCP_H
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#include "
SurgSim/Framework/Macros.h
"
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#include "
SurgSim/Physics/Computation.h
"
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namespace
SurgSim
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{
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namespace
Physics
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{
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class
BuildMlcp
:
public
Computation
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{
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public
:
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explicit
BuildMlcp
(
bool
doCopyState =
false
);
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SURGSIM_CLASSNAME
(
SurgSim::Physics::BuildMlcp
);
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virtual
~BuildMlcp
();
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protected
:
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std::shared_ptr<PhysicsManagerState>
doUpdate
(
const
double
& dt,
const
std::shared_ptr<PhysicsManagerState>& state)
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override
;
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};
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};
// namespace Physics
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};
// namespace SurgSim
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#endif // SURGSIM_PHYSICS_BUILDMLCP_H
Computation.h
Macros.h
SurgSim::Physics::BuildMlcp::~BuildMlcp
virtual ~BuildMlcp()
Destructor.
Definition:
BuildMlcp.cpp:36
SurgSim
Definition:
CompoundShapeToGraphics.cpp:29
SurgSim::Physics::BuildMlcp
Build an mlcp from a list of constraints stored in a PhysicsManagerState.
Definition:
BuildMlcp.h:28
SurgSim::Physics::BuildMlcp::doUpdate
std::shared_ptr< PhysicsManagerState > doUpdate(const double &dt, const std::shared_ptr< PhysicsManagerState > &state) override
Override doUpdate from superclass.
Definition:
BuildMlcp.cpp:40
SurgSim::Physics::BuildMlcp::BuildMlcp
BuildMlcp(bool doCopyState=false)
Constructor.
Definition:
BuildMlcp.cpp:33
SurgSim::Physics::Computation
Encapsulates a calculation over a selection of objects, needs to be subclassed to be used.
Definition:
Computation.h:32
SurgSim::Physics::BuildMlcp::SURGSIM_CLASSNAME
SURGSIM_CLASSNAME(SurgSim::Physics::BuildMlcp)
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