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class | BuildMlcp |
| Build an mlcp from a list of constraints stored in a PhysicsManagerState. More...
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class | Computation |
| Encapsulates a calculation over a selection of objects, needs to be subclassed to be used. More...
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class | Constraint |
| Base class for all physics constraints. Contains data specific to the constraint and a pair of implementations. More...
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class | ConstraintComponent |
| Component class for inserting constraints between physics representations into the scene. More...
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class | ConstraintData |
| Base class for all CosntraintData Derived classes should be specific to a given constraint. More...
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class | ConstraintImplementation |
| Base class for all constraint implementations. A ConstraintImplementation defines 1 side of a constraint. More...
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class | ConstraintImplementationFactory |
| This class manages ConstraintImplementations, and can be used to look up the correct implementation by representation and constraint type. More...
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class | ContactConstraintData |
| Class for Frictionless contact (only needs a plane equation) More...
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class | ContactConstraintGeneration |
| Generate a constraint for every contact that was calculated. More...
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class | DcdCollision |
| Computation to determine the contacts between a list of CollisionPairs. More...
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class | DeformableCollisionRepresentation |
| A collision representation that can be attached to a deformable, when this contains a mesh with the same number of vertices as the deformable has nodes, the mesh vertices will move to match the positions of the nodes in the deformable. More...
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class | DeformableRepresentation |
| Base class for all deformable representations MassSprings, Finite Element Models,... More...
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class | DivisbleCubeRepresentation |
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class | Fem1DElementBeam |
| 1D FemElement based on a beam volume discretization with a fixed cross section More...
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class | Fem1DPlyReaderDelegate |
| Implementation of PlyReaderDelegate for Fem1DRepresentation. More...
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class | Fem1DRepresentation |
| Finite Element Model 1D is a fem built with 1D FemElement. More...
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class | Fem1DRepresentationLocalization |
| Implementation of Localization for Fem1DRepresentation. More...
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class | Fem2DElementTriangle |
| 2D FemElement based on a triangle with a constant thickness More...
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class | Fem2DPlyReaderDelegate |
| Implementation of PlyReaderDelegate for Fem2DRepresentation. More...
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class | Fem2DRepresentation |
| Finite Element Model 2D is a fem built with 2D FemElement. More...
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class | Fem2DRepresentationLocalization |
| Implementation of Localization for Fem2DRepresentation. More...
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class | Fem3DElementCorotationalTetrahedron |
| Fem Element 3D co-rotational based on a tetrahedron volume discretization. More...
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class | Fem3DElementCube |
| Class for Fem Element 3D based on a cube volume discretization. More...
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class | Fem3DElementTetrahedron |
| Class for Fem Element 3D based on a tetrahedron volume discretization. More...
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class | Fem3DPerformanceTestBase |
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class | Fem3DPlyReaderDelegate |
| Implementation of PlyReaderDelegate for Fem3DRepresentation. More...
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class | Fem3DRepresentation |
| Finite Element Model 3D is a fem built with 3D FemElement. More...
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class | Fem3DRepresentationBilateral3D |
| Fem3DRepresentation bilateral 3d constraint implementation. More...
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class | Fem3DRepresentationContact |
| Fem3DRepresentation frictionless contact implementation. More...
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class | Fem3DRepresentationLocalization |
| Implementation of Localization for Fem3DRepresentation. More...
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struct | Fem3DVSTruthCubeRenderTests |
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class | FemElement |
| Base class for all Fem Element (1D, 2D, 3D) It handles the node ids to which it is connected and requires all derived classes to compute the element mass matrix and the force vector along with the derivatives (the stiffness and damping matrices). More...
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class | FemPlyReaderDelegate |
| Common part of implementation of PlyReaderDelegate for FemRepresentations. More...
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class | FemRepresentation |
| Finite Element Model (a.k.a. More...
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class | FemRepresentationParameters |
| The FemRepresentationParameters class defines the physical parameters for all Finite Element Model (1D, 2D, 3D) More...
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class | FixedRepresentation |
| The FixedRepresentation class represents a physics entity without any motion nor compliance against which others physics entities can interact. More...
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class | FixedRepresentationBilateral3D |
| FixedRepresentation bilateral 3d constraint implementation. More...
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class | FixedRepresentationContact |
| FixedRepresentation frictionless contact implementation. More...
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class | FixedRepresentationLocalization |
| This class implement the localization on a FixedRepresentation, as a local position. More...
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class | FreeMotion |
| Apply the Freemotion calcluation to all physics representations. More...
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class | IntegrationSchemeAndCountParamTest |
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class | IntegrationSchemeParamTest |
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class | LinearSpring |
| Linear spring connecting 2 nodes with a viscous term. More...
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class | Localization |
| This class localize a point on a representation (representation specific) More...
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class | Mass |
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class | MassSpringRepresentation |
| MassSpring model is a deformable model (a set of masses connected by springs). More...
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class | MassSpringRepresentationContact |
| MassSpring frictionless contact implementation. More...
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class | MassSpringRepresentationLocalization |
| Implementation of Localization for MassSpringRepresentation. More...
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class | MlcpMapping |
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struct | MlcpPhysicsProblem |
| A description of a physical mixed LCP system to be solved. More...
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struct | MlcpPhysicsSolution |
| The description of a solution to a physical MLCP problem. More...
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class | PhysicsManager |
| PhyicsManager handles the physics and motion calculation, it uses Computations to separate the algorithmic steps into smaller pieces. More...
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class | PhysicsManagerState |
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class | PostUpdate |
| Post Update is called prior to anything else at the beginning of each time step. More...
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class | PreUpdate |
| Pre Update is called after everything else is done in the physics time step. More...
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class | PushResults |
| Propagates the Mlcp result to the representations. More...
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struct | RenderTests |
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class | Representation |
| The Representation class defines the base class for all physics objects. More...
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class | RigidCollisionRepresentation |
| Collision Representation class that wraps a RigidRepresentation, this can be used to strictly tie the Collision Representation to the Rigid, so even if the shape of the rigid changes, the collision representation will use the appropriate shape. More...
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class | RigidRepresentation |
| The RigidRepresentation class defines the dynamic rigid body representation Note that the rigid representation is velocity-based, therefore its degrees of freedom are the linear and angular velocities: 6 Dof. More...
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class | RigidRepresentationBase |
| The RigidRepresentationBase class defines the base class for all rigid motion based representations (fixed, rigid body, rigid body + vtc,...) More...
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class | RigidRepresentationBilateral3D |
| RigidRepresentation bilateral 3d constraint implementation. More...
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class | RigidRepresentationContact |
| RigidRepresentation frictionless contact implementation. More...
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class | RigidRepresentationLocalization |
| This class implement the localization on a RigidRepresentation, as a local position. More...
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class | RigidRepresentationState |
| The RigidRepresentationState class describes a state (position and velocity information). More...
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class | SolveMlcp |
| Solve the system Mixed Linear Complementarity Problem (Mlcp) More...
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class | Spring |
| Base class for all springs It handles the node ids to which it is connected and requires all derived classes to compute the force and its derivatives (the stiffness and damping matrices) A extra method also exist to compute all of them at once for performance purposes. More...
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struct | TruthCubeData |
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class | TruthCubeRepresentation |
| Truth cube representation (extension of a Fem3DRepresentation) Defines a subdivided initial cube with cube FemElements. More...
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class | UpdateCollisionRepresentations |
| Computation that calls the CollisionRepresentations update() function. More...
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class | VirtualToolCoupler |
| The VirtualToolCoupler couples a rigid object to an input/output device through a spring and damper. More...
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| SURGSIM_REGISTER (SurgSim::Framework::Component, SurgSim::Physics::DeformableCollisionRepresentation, DeformableCollisionRepresentation) |
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| SURGSIM_STATIC_REGISTRATION (DeformableCollisionRepresentation) |
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| SURGSIM_REGISTER (SurgSim::Framework::Component, SurgSim::Physics::Fem1DRepresentation, Fem1DRepresentation) |
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| SURGSIM_STATIC_REGISTRATION (Fem1DRepresentation) |
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| SURGSIM_REGISTER (SurgSim::Framework::Component, SurgSim::Physics::Fem2DRepresentation, Fem2DRepresentation) |
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| SURGSIM_STATIC_REGISTRATION (Fem2DRepresentation) |
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| SURGSIM_REGISTER (SurgSim::Framework::Component, SurgSim::Physics::Fem3DRepresentation, Fem3DRepresentation) |
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| SURGSIM_STATIC_REGISTRATION (Fem3DRepresentation) |
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| SURGSIM_REGISTER (SurgSim::Framework::Component, SurgSim::Physics::FixedRepresentation, FixedRepresentation) |
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| SURGSIM_STATIC_REGISTRATION (FixedRepresentation) |
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| TEST_P (IntegrationSchemeParamTest, WoundTest) |
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| TEST_P (IntegrationSchemeAndCountParamTest, CubeTest) |
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| INSTANTIATE_TEST_CASE_P (Fem3DPerformanceTest, IntegrationSchemeParamTest,::testing::Values(SurgSim::Math::INTEGRATIONSCHEME_EXPLICIT_EULER, SurgSim::Math::INTEGRATIONSCHEME_LINEAR_EXPLICIT_EULER, SurgSim::Math::INTEGRATIONSCHEME_MODIFIED_EXPLICIT_EULER, SurgSim::Math::INTEGRATIONSCHEME_LINEAR_MODIFIED_EXPLICIT_EULER, SurgSim::Math::INTEGRATIONSCHEME_IMPLICIT_EULER, SurgSim::Math::INTEGRATIONSCHEME_LINEAR_IMPLICIT_EULER, SurgSim::Math::INTEGRATIONSCHEME_STATIC, SurgSim::Math::INTEGRATIONSCHEME_LINEAR_STATIC, SurgSim::Math::INTEGRATIONSCHEME_RUNGE_KUTTA_4, SurgSim::Math::INTEGRATIONSCHEME_LINEAR_RUNGE_KUTTA_4)) |
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| INSTANTIATE_TEST_CASE_P (Fem3DPerformanceTest, IntegrationSchemeAndCountParamTest,::testing::Combine(::testing::Values(SurgSim::Math::INTEGRATIONSCHEME_EXPLICIT_EULER, SurgSim::Math::INTEGRATIONSCHEME_LINEAR_EXPLICIT_EULER, SurgSim::Math::INTEGRATIONSCHEME_MODIFIED_EXPLICIT_EULER, SurgSim::Math::INTEGRATIONSCHEME_LINEAR_MODIFIED_EXPLICIT_EULER, SurgSim::Math::INTEGRATIONSCHEME_IMPLICIT_EULER, SurgSim::Math::INTEGRATIONSCHEME_LINEAR_IMPLICIT_EULER, SurgSim::Math::INTEGRATIONSCHEME_STATIC, SurgSim::Math::INTEGRATIONSCHEME_LINEAR_STATIC, SurgSim::Math::INTEGRATIONSCHEME_RUNGE_KUTTA_4, SurgSim::Math::INTEGRATIONSCHEME_LINEAR_RUNGE_KUTTA_4),::testing::Values(2, 3, 4, 5, 6, 7, 8))) |
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| TEST_F (RenderTests, SimulatedWoundRenderTest) |
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bool | parseTruthCubeData (std::shared_ptr< TruthCubeData > truthCubeData) |
| Parsing Truth Cube data from an external file. More...
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size_t | searchForClosestNodeInState (std::shared_ptr< SurgSim::Math::OdeState > state, Vector3d p) |
| Search the node in the state that is the closest to a given 3d point This is necessary because the structure of the nodes in the state and in the truth cube is not necessarily matching The state is built with a structure aligned on +X +Y +Z, while the truth cube data are defined along +X +Y -Z and rotated (PI/2 along X) to match Y up, so 3d indices don't match. More...
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void | buildConstrainedSystem (std::shared_ptr< TruthCubeRepresentation > truthCubeRepresentation, SurgSim::Math::Matrix &A, SurgSim::Math::Vector &B) |
| Build the constrained system for a given truth cube representation. More...
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SurgSim::Math::Vector | staticSolver (std::shared_ptr< TruthCubeRepresentation > truthCubeRepresentation) |
| Using static solver to find the displacement of truth cube. More...
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void | doSimulation (std::shared_ptr< TruthCubeData > truthCubeData, std::shared_ptr< TruthCubeRepresentation > truthCubeRepresentation, double displacement) |
| Simulate the truth cube statically with the boundary conditions applied. More...
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void | copySimulationBeadsIntoPointCloud (std::shared_ptr< TruthCubeRepresentation > truthCubeRepresentation, std::shared_ptr< SurgSim::Graphics::OsgPointCloudRepresentation > representation) |
| Copy simulation beads data into point cloud. More...
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void | copyExperimentalBeadsIntoPointCloud (std::vector< SurgSim::Math::Vector3d > truthCube, std::shared_ptr< SurgSim::Graphics::OsgPointCloudRepresentation > representation) |
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double | analyzeError (std::vector< Vector3d > cubeData, std::shared_ptr< SurgSim::Math::OdeState > state) |
| Simple error analysis. More...
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| TEST_F (Fem3DVSTruthCubeRenderTests, rawDataTest) |
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| TEST_F (Fem3DVSTruthCubeRenderTests, Test5percentsStrain) |
| Simulate truth cube with 5% strain (4mm of displacement). More...
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| TEST_F (Fem3DVSTruthCubeRenderTests, Test12percentsAndHalfStrain) |
| Simulate truth cube with 12.5% strain (10mm of displacement). More...
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| TEST_F (Fem3DVSTruthCubeRenderTests, Test18percentsAndQuarterStrain) |
| Simulate truth cube with 18.25% strain (14.6mm of displacement). More...
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| TEST_F (RenderTests, VisualTestFem1D) |
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| TEST_F (RenderTests, VisualTestFem2D) |
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| TEST_F (RenderTests, VisualTestFem3D) |
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| TEST_F (RenderTests, VisualTestFem3DCorotatioal) |
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| TEST_F (RenderTests, VisualTestMassSprings) |
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| TEST_F (RenderTests, VisualTestFallingRigidBodies) |
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| TEST_F (RenderTests, VisualTestRigidBodiesSlidingOnPlanes) |
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| TEST_F (RenderTests, VisualTestRigidBodiesStacking) |
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| TEST_F (RenderTests, VisualTestRigidBodiesStackingReversed) |
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| SURGSIM_REGISTER (SurgSim::Framework::Component, SurgSim::Physics::RigidCollisionRepresentation, RigidCollisionRepresentation) |
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| SURGSIM_STATIC_REGISTRATION (RigidCollisionRepresentation) |
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| SURGSIM_REGISTER (SurgSim::Framework::Component, SurgSim::Physics::RigidRepresentation, RigidRepresentation) |
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| SURGSIM_STATIC_REGISTRATION (RigidRepresentation) |
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| SURGSIM_REGISTER (SurgSim::Framework::Component, SurgSim::Physics::VirtualToolCoupler, VirtualToolCoupler) |
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| SURGSIM_STATIC_REGISTRATION (VirtualToolCoupler) |
|