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Data< bool > | d_displayTime |
| Display time for each important step of ConstraintAnimationLoop. More...
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Data< SReal > | d_tol |
| Tolerance of the Gauss-Seidel. More...
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Data< int > | d_maxIt |
| Maximum number of iterations of the Gauss-Seidel. More...
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Data< bool > | d_doCollisionsFirst |
| Compute the collisions first (to support penality-based contacts) More...
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Data< bool > | d_doubleBuffer |
| Double the buffer dedicated to the constraint problem to make it accessible to another thread. More...
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Data< bool > | d_scaleTolerance |
| Scale the error tolerance with the number of constraints. More...
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Data< bool > | d_allVerified |
| All contraints must be verified (each constraint's error < tolerance) More...
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Data< SReal > | d_sor |
| Successive Over Relaxation parameter (0-2) More...
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Data< bool > | d_schemeCorrection |
| Apply new scheme where compliance is progressively corrected. More...
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Data< bool > | d_realTimeCompensation |
| If the total computational time T < dt, sleep(dt-T) More...
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Data< bool > | d_activateSubGraph |
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Data< std::map< std::string, sofa::type::vector< SReal > > > | d_graphErrors |
| Sum of the constraints' errors at each iteration. More...
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Data< std::map< std::string, sofa::type::vector< SReal > > > | d_graphConstraints |
| Graph of each constraint's error at the end of the resolution. More...
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Data< std::map< std::string, sofa::type::vector< SReal > > > | d_graphForces |
| Graph of each constraint's force at each step of the resolution. More...
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SingleLink< BaseAnimationLoop, core::objectmodel::BaseNode, BaseLink::FLAG_STOREPATH > | l_node |
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Data< bool > | d_computeBoundingBox |
| If true, compute the global bounding box of the scene at each time step. Used mostly for rendering. More...
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Data< bool > | f_listening |
| if true, handle the events, otherwise ignore the events More...
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std::vector< lifecycle::DeprecatedData * > | m_oldAttributes |
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Data< int > | d_messageLogCount |
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Data< std::string > | name |
| Name of the object. More...
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Data< bool > | f_printLog |
| if true, emits extra messages at runtime. More...
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Data< sofa::core::objectmodel::TagSet > | f_tags |
| list of the subsets the objet belongs to More...
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Data< sofa::type::BoundingBox > | f_bbox |
| this object bounding box More...
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Data< sofa::core::objectmodel::ComponentState > | d_componentState |
| The state of the component among (Dirty, Valid, Undefined, Loading, Invalid). More...
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std::string | m_definitionSourceFileName {""} |
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int | m_definitionSourceFilePos {-1} |
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std::string | m_instanciationSourceFileName {""} |
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int | m_instanciationSourceFilePos {-1} |
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| SOFA_CLASS (ConstraintAnimationLoop, sofa::simulation::CollisionAnimationLoop) |
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void | step (const core::ExecParams *params, SReal dt) override |
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void | init () override |
| Initialization method called at graph creation and modification, during top-down traversal. More...
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ConstraintProblem * | getConstraintProblem () |
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| SOFA_ABSTRACT_CLASS (BaseAnimationLoop, objectmodel::BaseObject) |
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void | init () override |
| Initialization method called at graph creation and modification, during top-down traversal. More...
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SReal | getResetTime () const |
| Returns starting time of the simulation. More...
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bool | insertInNode (objectmodel::BaseNode *node) override |
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bool | removeInNode (objectmodel::BaseNode *node) override |
|
| SOFA_CLASS (BaseObject, Base) |
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virtual void | draw (const core::visual::VisualParams *) |
| Render internal data of this object, for debugging purposes. More...
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virtual void | computeBBox (const core::ExecParams *, bool=false) |
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void | setSrc (const std::string &v, std::vector< std::string > *attributeList=nullptr) |
| Sets a source Object and parses it to collect dependent Data. More...
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void | setSrc (const std::string &v, const BaseObject *loader, std::vector< std::string > *attributeList=nullptr) |
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Base * | findLinkDestClass (const BaseClass *destType, const std::string &path, const BaseLink *link) override |
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virtual std::string | getPathName () const override |
| Return the full path name of this object. More...
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SReal | getTime () const |
| Current time. More...
|
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const BaseContext * | getContext () const |
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BaseContext * | getContext () |
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const BaseObject * | getMaster () const |
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BaseObject * | getMaster () |
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const VecSlaves & | getSlaves () const |
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BaseObject * | getSlave (const std::string &name) const |
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virtual void | addSlave (BaseObject::SPtr s) |
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virtual void | removeSlave (BaseObject::SPtr s) |
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virtual void | handleEvent (Event *) |
| Handle an event. More...
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virtual void | handleTopologyChange () |
|
virtual void | handleTopologyChange (core::topology::Topology *t) |
|
void | parse (BaseObjectDescription *arg) override |
| Parse the given description to assign values to this object's fields and potentially other parameters. More...
|
|
virtual void | bwdInit () |
| Initialization method called at graph creation and modification, during bottom-up traversal. More...
|
|
virtual void | reinit () |
| Update method called when variables used in precomputation are modified. More...
|
|
void | updateInternal () |
| Update method called when variables (used to compute other internal variables) are modified. More...
|
|
virtual void | reset () |
| Reset to initial state. More...
|
|
virtual void | cleanup () |
|
virtual const BaseClass * | getClass () const |
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void | addDeprecatedAttribute (lifecycle::DeprecatedData *attribute) |
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void | addUpdateCallback (const std::string &name, std::initializer_list< BaseData * > inputs, std::function< sofa::core::objectmodel::ComponentState(const DataTracker &)> function, std::initializer_list< BaseData * > outputs) |
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void | addOutputsToCallback (const std::string &name, std::initializer_list< BaseData * > outputs) |
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const std::string & | getName () const |
| Accessor to the object name. More...
|
|
void | setName (const std::string &n) |
| Set the name of this object. More...
|
|
void | setName (const std::string &n, int counter) |
| Set the name of this object, adding an integer counter. More...
|
|
std::string | getTypeName () const |
| Get the type name of this object (i.e. class and template types) More...
|
|
virtual std::string | getClassName () const |
| Get the class name of this object. More...
|
|
virtual std::string | getTemplateName () const final |
| Get the template type names (if any) used to instantiate this object. More...
|
|
std::string | getNameSpaceName () const |
| Get the template type names (if any) used to instantiate this object. More...
|
|
void | setDefinitionSourceFileName (const std::string &sourceFileName) |
| Set the source filename (where the component is implemented) More...
|
|
const std::string & | getDefinitionSourceFileName () const |
| Get the source filename (where the component is implemented) More...
|
|
void | setDefinitionSourceFilePos (const int) |
| Set the source location (where the component is implemented) More...
|
|
int | getDefinitionSourceFilePos () const |
| Get the source location (where the component is implemented) More...
|
|
void | setInstanciationSourceFileName (const std::string &sourceFileName) |
|
const std::string & | getInstanciationSourceFileName () const |
|
void | setInstanciationSourceFilePos (const int) |
|
int | getInstanciationSourceFilePos () const |
|
void | addMessage (const sofa::helper::logging::Message &m) const |
|
size_t | countLoggedMessages (sofa::helper::logging::Message::TypeSet t=sofa::helper::logging::Message::AnyTypes) const |
|
const std::deque< sofa::helper::logging::Message > & | getLoggedMessages () const |
|
const std::string | getLoggedMessagesAsString (sofa::helper::logging::Message::TypeSet t=sofa::helper::logging::Message::AnyTypes) const |
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void | clearLoggedMessages () const |
|
bool | notMuted () const |
|
const sofa::core::objectmodel::TagSet & | getTags () const |
| Represents the subsets the object belongs to. More...
|
|
bool | hasTag (Tag t) const |
| Return true if the object belong to the given subset. More...
|
|
void | addTag (Tag t) |
| Add a subset qualification to the object. More...
|
|
void | removeTag (Tag t) |
| Remove a subset qualification to the object. More...
|
|
ComponentState | getComponentState () const |
|
bool | isComponentStateValid () const |
|
virtual bool | parseField (const std::string &attribute, const std::string &value) |
| Assign one field value (Data or Link) More...
|
|
virtual bool | hasField (const std::string &attribute) const |
| Check if a given Data field or Link exists. More...
|
|
void | parseFields (const std::list< std::string > &str) |
| Assign the field values stored in the given list of name + value pairs of strings. More...
|
|
virtual void | parseFields (const std::map< std::string, std::string * > &str) |
| Assign the field values stored in the given map of name -> value pairs. More...
|
|
void | writeDatas (std::map< std::string, std::string * > &str) |
| Write the current field values to the given map of name -> value pairs. More...
|
|
void | writeDatas (std::ostream &out, const std::string &separator=" ") |
|
BaseData * | findData (const std::string &name) const |
|
std::vector< BaseData * > | findGlobalField (const std::string &name) const |
| Find data fields given a name: several can be found as we look into the alias map. More...
|
|
BaseLink * | findLink (const std::string &name) const |
|
std::vector< BaseLink * > | findLinks (const std::string &name) const |
| Find link fields given a name: several can be found as we look into the alias map. More...
|
|
virtual void | updateLinks (bool logErrors=true) |
| Update pointers in case the pointed-to objects have appeared. More...
|
|
template<class T > |
BaseData::BaseInitData | initData (::sofa::core::objectmodel::Data< T > *field, const char *name, const char *help, ::sofa::core::objectmodel::BaseData::DataFlags dataflags) |
| Helper method used to initialize a data field containing a value of type T. More...
|
|
template<class T > |
BaseData::BaseInitData | initData (Data< T > *field, const char *name, const char *help, bool isDisplayed=true, bool isReadOnly=false) |
| Helper method used to initialize a data field containing a value of type T. More...
|
|
template<class T > |
Data< T >::InitData | initData (Data< T > *field, const T &value, const char *name, const char *help, bool isDisplayed=true, bool isReadOnly=false) |
| Helper method used to initialize a data field containing a value of type T. More...
|
|
void | addData (BaseData *f, const std::string &name) |
|
void | addData (BaseData *f) |
|
void | removeData (BaseData *f) |
| Remove a data field. More...
|
|
void | addAlias (BaseData *field, const char *alias) |
| Add an alias to a Data. More...
|
|
void | addLink (BaseLink *l) |
| Add a link. More...
|
|
void | addAlias (BaseLink *link, const char *alias) |
| Add an alias to a Link. More...
|
|
const VecData & | getDataFields () const |
| Accessor to the vector containing all the fields of this object. More...
|
|
const MapData & | getDataAliases () const |
| Accessor to the map containing all the aliases of this object. More...
|
|
const VecLink & | getLinks () const |
| Accessor to the vector containing all the fields of this object. More...
|
|
const MapLink & | getLinkAliases () const |
| Accessor to the map containing all the aliases of this object. More...
|
|
virtual bool | findDataLinkDest (BaseData *&ptr, const std::string &path, const BaseLink *link) |
|
template<class T > |
bool | findLinkDest (T *&ptr, const std::string &path, const BaseLink *link) |
|
|
| ConstraintAnimationLoop () |
|
| ~ConstraintAnimationLoop () override |
|
void | launchCollisionDetection (const core::ExecParams *params) |
|
void | freeMotion (const core::ExecParams *params, simulation::Node *context, SReal &dt) |
|
void | setConstraintEquations (const core::ExecParams *params, simulation::Node *context) |
|
void | correctiveMotion (const core::ExecParams *params, simulation::Node *context) |
|
void | debugWithContact (int numConstraints) |
|
void | writeAndAccumulateAndCountConstraintDirections (const core::ExecParams *params, simulation::Node *context, unsigned int &numConstraints) |
| Specific procedures that are called for setting the constraints: More...
|
|
void | getIndividualConstraintViolations (const core::ExecParams *params, simulation::Node *context) |
|
void | getIndividualConstraintSolvingProcess (const core::ExecParams *params, simulation::Node *context) |
| 3.calling getConstraintResolution: each constraint provides a method that is used to solve it during GS iterations More...
|
|
virtual void | computeComplianceInConstraintSpace () |
| 4.calling addComplianceInConstraintSpace projected in the contact space => getDelassusOperator(_W) = H*C*Ht More...
|
|
void | computePredictiveForce (int dim, SReal *force, std::vector< core::behavior::ConstraintResolution * > &res) |
| method for predictive scheme: More...
|
|
void | gaussSeidelConstraint (int dim, SReal *dfree, SReal **w, SReal *force, SReal *d, std::vector< core::behavior::ConstraintResolution * > &res, SReal *df) |
|
virtual ConstraintProblem * | getCP () |
|
| CollisionAnimationLoop () |
|
| ~CollisionAnimationLoop () override |
|
virtual void | preCollisionComputation (const core::ExecParams *params=core::execparams::defaultInstance()) |
| Function meant to be called before the actual collision computation. More...
|
|
virtual void | internalCollisionComputation (const core::ExecParams *params=core::execparams::defaultInstance()) |
| Function performing the actual collision computation. More...
|
|
virtual void | postCollisionComputation (const core::ExecParams *params=core::execparams::defaultInstance()) |
| Function meant to be called after the actual collision computation. More...
|
|
virtual void | computeCollision (const core::ExecParams *params=core::execparams::defaultInstance()) |
| Activate collision pipeline. More...
|
|
virtual void | integrate (const core::ExecParams *params, SReal dt) |
| Activate OdeSolvers. More...
|
|
const Solvers & | getSolverSequence () |
|
| BaseAnimationLoop () |
|
| ~BaseAnimationLoop () override |
|
void | storeResetState () override |
| Save the initial state for later uses in reset() More...
|
|
| BaseObject () |
|
| ~BaseObject () override |
|
virtual void | doUpdateInternal () |
| Implementation of the internal update. More...
|
|
void | changeContextLink (BaseContext *before, BaseContext *&after) |
|
void | changeSlavesLink (BaseObject::SPtr ptr, std::size_t, bool add) |
| This method insures that slaves objects have master and context links set correctly. More...
|
|
void | trackInternalData (const BaseData &data) |
| Method called to add the Data to the DataTracker (listing the Data to track) More...
|
|
void | cleanTracker () |
|
bool | hasDataChanged (const BaseData &data) |
| Method called to know if a tracked Data has changed. More...
|
|
| Base () |
|
virtual | ~Base () |
|
void | initData0 (BaseData *field, BaseData::BaseInitData &res, const char *name, const char *help, bool isDisplayed=true, bool isReadOnly=false) |
| Helper method used by initData() More...
|
|
void | initData0 (BaseData *field, BaseData::BaseInitData &res, const char *name, const char *help, BaseData::DataFlags dataFlags) |
| Helper method used by initData() More...
|
|
template<class T > |
void | initData0 (Data< T > *field, typename Data< T >::InitData &res, const T &value, const char *name, const char *help, bool isDisplayed=true, bool isReadOnly=false) |
| Helper method used by initData() More...
|
|