Implementation of Localization for Fem3DRepresentation.
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#include <SurgSim/Physics/Fem3DRepresentationLocalization.h>
Implementation of Localization for Fem3DRepresentation.
Fem3DRepresentationLocalization tracks the global coordinates of an IndexedLocalCoordinate associated with an Fem3DRepresentation. It is used, for example, as a helper class for filling out the MlcpPhysicsProblem in Fem3DRepresentationContact::doBuild, which constrains the motion of Fem3DRepresentation at a frictionless contact.
Constructor.
- Parameters
-
representation | The representation to assign to this localization. |
localPosition | The local position to set the localization at. |
SurgSim::Physics::Fem3DRepresentationLocalization::~Fem3DRepresentationLocalization |
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virtual |
Calculates the global position of this localization.
- Parameters
-
time | The time in [0..1] at which the position should be calculated. |
- Returns
- The global position of the localization at the requested time.
- Note
- time can be useful when dealing with CCD.
Implements SurgSim::Physics::Localization.
Gets the local position.
- Returns
- The local position set for this localization.
bool SurgSim::Physics::Fem3DRepresentationLocalization::isValidRepresentation |
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std::shared_ptr< Representation > |
representation | ) |
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overridevirtual |
Query if 'representation' is valid representation.
- Parameters
-
representation | The representation. |
- Returns
- true if valid representation, false if not.
Reimplemented from SurgSim::Physics::Localization.
Sets the local position.
- Parameters
-
localPosition | The local position to set the localization at. |
Barycentric position in local coordinates.
The documentation for this class was generated from the following files: