16 #ifndef SURGSIM_PHYSICS_FEM2DREPRESENTATION_H
17 #define SURGSIM_PHYSICS_FEM2DREPRESENTATION_H
34 class Fem2DPlyReaderDelegate;
57 virtual void transformState(std::shared_ptr<SurgSim::Math::OdeState> state,
61 virtual std::shared_ptr<FemPlyReaderDelegate>
getDelegate()
override;
68 #endif // SURGSIM_PHYSICS_FEM2DREPRESENTATION_H
Definition: DriveElementFromInputBehavior.cpp:27
RepresentationType
Definition: Representation.h:42
Finite Element Model 2D is a fem built with 2D FemElement.
Definition: Fem2DRepresentation.h:37
Finite Element Model (a.k.a.
Definition: FemRepresentation.h:38
Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic > Matrix
A dynamic size matrix.
Definition: Matrix.h:65
Fem2DRepresentation(const std::string &name)
Constructor.
Definition: Fem2DRepresentation.cpp:54
virtual std::shared_ptr< FemPlyReaderDelegate > getDelegate() override
To be implemented by derived classes.
Definition: Fem2DRepresentation.cpp:128
virtual RepresentationType getType() const override
Query the representation type.
Definition: Fem2DRepresentation.cpp:123
Eigen::Matrix< double, Eigen::Dynamic, 1 > Vector
A dynamic size column vector.
Definition: Vector.h:67
virtual void addExternalGeneralizedForce(std::shared_ptr< Localization > localization, SurgSim::Math::Vector &generalizedForce, const SurgSim::Math::Matrix &K=SurgSim::Math::Matrix(), const SurgSim::Math::Matrix &D=SurgSim::Math::Matrix()) override
Add an external generalized force applied on a specific localization.
Definition: Fem2DRepresentation.cpp:64
virtual ~Fem2DRepresentation()
Destructor.
Definition: Fem2DRepresentation.cpp:60
Definitions of small fixed-size square matrix types.
Eigen::Transform< double, 3, Eigen::Isometry > RigidTransform3d
A 3D rigid (isometric) transform, represented as doubles.
Definition: RigidTransform.h:46
SURGSIM_CLASSNAME(SurgSim::Physics::Fem2DRepresentation)
SURGSIM_STATIC_REGISTRATION(DeformableCollisionRepresentation)
virtual void transformState(std::shared_ptr< SurgSim::Math::OdeState > state, const SurgSim::Math::RigidTransform3d &transform) override
Transform a state using a given transformation.
Definition: Fem2DRepresentation.cpp:136