Abstract class for rigid body constraints. A RbdConstraint should mainly provide a constraint jacobian. It provides a constraint gradient for both linear and angular (each column). This gradient should vanish as the constraint scalar approaches 0. More...
#include <imstkRbdConstraint.h>
Inheritance diagram for imstk::RbdConstraint:
Public Types | |
| enum | Side { A, B, AB } |
Public Member Functions | |
| virtual const std::string | getTypeName () const =0 |
| virtual void | compute (double dt)=0 |
| Compute constraint jacobian. | |
Public Attributes | |
| Eigen::Matrix< double, 3, 4 > | J = Eigen::Matrix<double, 3, 4>::Zero() |
| Jacobian, "vanish" to zero. | |
| double | vu = 0.0 |
| Bauhmgarte stabilization term. | |
| double | range [2] = { 0.0, std::numeric_limits<double>::max() } |
| std::shared_ptr< RigidBody > | m_obj1 = nullptr |
| std::shared_ptr< RigidBody > | m_obj2 = nullptr |
| Side | m_side = Side::AB |
Protected Member Functions | |
| RbdConstraint (std::shared_ptr< RigidBody > rbd1, std::shared_ptr< RigidBody > rbd2, const Side side) | |
Detailed Description
Abstract class for rigid body constraints. A RbdConstraint should mainly provide a constraint jacobian. It provides a constraint gradient for both linear and angular (each column). This gradient should vanish as the constraint scalar approaches 0.
Definition at line 89 of file imstkRbdConstraint.h.
The documentation for this class was generated from the following file:
- Source/Constraint/RigidBodyConstraints/imstkRbdConstraint.h
