16 #ifndef SURGSIM_PHYSICS_BUILDMLCP_H 17 #define SURGSIM_PHYSICS_BUILDMLCP_H 33 explicit BuildMlcp(
bool doCopyState =
false);
42 std::shared_ptr<PhysicsManagerState>
doUpdate(
const double& dt,
const std::shared_ptr<PhysicsManagerState>& state)
49 #endif // SURGSIM_PHYSICS_BUILDMLCP_H Definition: CompoundShapeToGraphics.cpp:29
virtual ~BuildMlcp()
Destructor.
Definition: BuildMlcp.cpp:36
SURGSIM_CLASSNAME(SurgSim::Physics::BuildMlcp)
Build an mlcp from a list of constraints stored in a PhysicsManagerState.
Definition: BuildMlcp.h:28
Encapsulates a calculation over a selection of objects, needs to be subclassed to be used...
Definition: Computation.h:32
BuildMlcp(bool doCopyState=false)
Constructor.
Definition: BuildMlcp.cpp:33
std::shared_ptr< PhysicsManagerState > doUpdate(const double &dt, const std::shared_ptr< PhysicsManagerState > &state) override
Override doUpdate from superclass.
Definition: BuildMlcp.cpp:40