Program Listing for File ProjectConstraintError.h

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#pragmaonce
#include"Karana/SOADyn/ConstraintKinematicsSolver.h"
#include"Karana/SOADyn/KModel.h"
#include"Karana/SOADyn/SubGraph.h"

namespaceKarana::Models{

namespacekm=Karana::Math;
namespacekd=Karana::Dynamics;

classProjectConstraintErrorParams:publicKModelParams{
public:
ProjectConstraintErrorParams(std::string_viewname);

boolisFinalized()constfinal;

doubletol=km::uninitializedNaN;
};

classProjectConstraintError
:publicKModel<ProjectConstraintError,ProjectConstraintErrorParams>{
public:
ProjectConstraintError(std::string_viewname,
constkc::ks_ptr<kd::StatePropagator>&sp,
constkc::ks_ptr<kd::SubGraph>&sg,
constkc::ks_ptr<km::Integrator>&integrator,
constkc::ks_ptr<kd::ConstraintKinematicsSolver>&cks);

~ProjectConstraintError();

statickc::ks_ptr<ProjectConstraintError>
create(std::string_viewname,
constkc::ks_ptr<kd::StatePropagator>&sp,
constkc::ks_ptr<kd::SubGraph>&sg,
constkc::ks_ptr<km::Integrator>&integrator,
constkc::ks_ptr<kd::ConstraintKinematicsSolver>&cks);

voidpostModelStep(constkm::Ktime&t,constkm::Vec&x);

private:
kc::ks_ptr<kd::SubGraph>_sg;

kc::ks_ptr<km::Integrator>_integ;

kc::ks_ptr<kd::ConstraintKinematicsSolver>_cks;
};
}//namespaceKarana::Models