9 #include "imstkRbdConstraint.h" 10 #include "imstkMacros.h" 24 std::shared_ptr<RigidBody> obj1,
25 std::shared_ptr<RigidBody> obj2,
26 const Vec3d& p1,
const Vec3d& p2,
28 const Side side = Side::AB);
34 void compute(
double dt)
override;
37 Vec3d m_p1 = Vec3d(0.0, 0.0, 0.0);
38 Vec3d m_p2 = Vec3d(0.0, 0.0, 0.0);
Abstract class for rigid body constraints. A RbdConstraint should mainly provide a constraint jacobia...
A rigid body constraint to keep objects at a specified distance from each other given two local point...
void compute(double dt) override
Compute constraint jacobian.