16 #ifndef SURGSIM_PHYSICS_SPRING_H 17 #define SURGSIM_PHYSICS_SPRING_H 52 return m_nodeIds.size();
59 return m_nodeIds[springNodeId];
74 double scale = 1.0) = 0;
82 double scale = 1.0) = 0;
90 double scale = 1.0) = 0;
120 #endif // SURGSIM_PHYSICS_SPRING_H Definition: DriveElementFromInputBehavior.cpp:27
Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic > Matrix
A dynamic size matrix.
Definition: Matrix.h:65
OdeState defines the state y of an ode of 2nd order of the form M(x,v).a = F(x, v) with boundary cond...
Definition: OdeState.h:34
std::vector< size_t > m_nodeIds
Node ids connected by this spring.
Definition: Spring.h:113
Eigen::Matrix< double, Eigen::Dynamic, 1 > Vector
A dynamic size column vector.
Definition: Vector.h:67
Base class for all springs It handles the node ids to which it is connected and requires all derived ...
Definition: Spring.h:41
Definitions of small fixed-size square matrix types.
Definitions of small fixed-size vector types.
size_t getNumNodes() const
Gets the number of nodes the spring is connecting.
Definition: Spring.h:50
const std::vector< size_t > & getNodeIds() const
Gets the node ids for this spring.
Definition: Spring.h:64
virtual ~Spring()
Virtual destructor.
Definition: Spring.h:45
size_t getNodeId(size_t springNodeId) const
Gets the springNodeId-th node id.
Definition: Spring.h:57