/usr/include/SurgSim/Physics/SlidingConstraint.h is in libopensurgsim-dev 0.7.0-5.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 | // This file is a part of the OpenSurgSim project.
// Copyright 2015, SimQuest Solutions Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef SURGSIM_PHYSICS_SLIDINGCONSTRAINT_H
#define SURGSIM_PHYSICS_SLIDINGCONSTRAINT_H
#include "SurgSim/Physics/Constraint.h"
#include "SurgSim/Physics/Representation.h"
#include "SurgSim/Physics/SlidingConstraintData.h"
namespace SurgSim
{
namespace Physics
{
/// Sliding constraint between two physics representations.
/// The sliding direction vector (direction + origin) needs to be updated each physics time step. This is done by
/// transforming the direction and origin into the local coordinates of the physics representations and recalculating
/// them every time step.
/// representation0 is the one that can 'slide' against Representation1, for example Representation0 could be a suture
/// Representation1 tissue.
class SlidingConstraint : public Constraint
{
public:
/// Sets all the values for this constraints, does validation on the parameters and will throw if something
/// is wrong with the constraint.
/// \param constraintType The constraint type.
/// \param data The data for this constraint.
/// \param representation0 The moving representation e.g. suture.
/// \param representation1 The non-moving representation e.g. tissue.
/// \param location0, location1 Both locations of the representations involved in this constraint.
/// \param slidingDirection The direction of sliding.
SlidingConstraint(
ConstraintType constraintType,
std::shared_ptr<ConstraintData> data,
std::shared_ptr<Representation> representation0,
const SurgSim::DataStructures::Location& location0,
std::shared_ptr<Representation> representation1,
const SurgSim::DataStructures::Location& location1,
const Math::Vector3d& slidingDirection);
/// Destructor
virtual ~SlidingConstraint();
private:
void doBuild(double dt,
const ConstraintData& data,
MlcpPhysicsProblem* mlcpPhysicsProblem,
size_t indexOfRepresentation0,
size_t indexOfRepresentation1,
size_t indexOfConstraint) override;
/// The sliding constraint data.
std::shared_ptr<SlidingConstraintData> m_slidingConstraintData;
/// The end of the sliding direction, local to the representation1.
Math::Vector3d m_directionEnd;
};
}; // namespace Physics
}; // namespace SurgSim
#endif // SURGSIM_PHYSICS_SLIDINGCONSTRAINT_H
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