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MlcpConstraintType.h
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1 // This file is a part of the OpenSurgSim project.
2 // Copyright 2013, SimQuest Solutions Inc.
3 //
4 // Licensed under the Apache License, Version 2.0 (the "License");
5 // you may not use this file except in compliance with the License.
6 // You may obtain a copy of the License at
7 //
8 // http://www.apache.org/licenses/LICENSE-2.0
9 //
10 // Unless required by applicable law or agreed to in writing, software
11 // distributed under the License is distributed on an "AS IS" BASIS,
12 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 // See the License for the specific language governing permissions and
14 // limitations under the License.
15 
16 #ifndef SURGSIM_MATH_MLCPCONSTRAINTTYPE_H
17 #define SURGSIM_MATH_MLCPCONSTRAINTTYPE_H
18 
19 namespace SurgSim
20 {
21 namespace Math
22 {
23 
25 {
26  // Invalid value -- not used for any constraint type
28  // Fixing 1 DOF
30  // Fixing 2 DOF
32  // Fixing 3 DOF (could be a fixed point in 3D space for example)
34  // Fixing 4 DOF (could be a fixed point with twist included for the MechanicalSpline for example)
35  // MLCP_BILATERAL_4D_CONSTRAINT,
36  // Frictionless contact (could be in 2D or 3D => only 1 atomic unilateral constraint)
38  // Frictional contact in 3D, using Coulomb friction => 1 entry in the friction coefficient array !
40  // Frictionless suturing in 3D => 2 directional constraint = 2 bilateral constraints !
42  // Frictional suturing in 3D => 2 directional constraint + 1 frictional tangent constraint linked by Coulomb's law
45 };
46 
47 }; // namespace Math
48 }; // namespace SurgSim
49 
50 #endif // SURGSIM_MATH_MLCPCONSTRAINTTYPE_H
Definition: MlcpConstraintType.h:31
Definition: MlcpConstraintType.h:44
Definition: MlcpConstraintType.h:27
Definition: MlcpConstraintType.h:29
MlcpConstraintType
Definition: MlcpConstraintType.h:24
Definition: MlcpConstraintType.h:33