#include <ConstraintAnimationLoop.h>

Inheritance diagram for sofa::component::animationloop::ConstraintAnimationLoop:

Public Attributes
Data< bool >	d_displayTime
	Display time for each important step of ConstraintAnimationLoop. More...

Data< SReal >	d_tol
	Tolerance of the Gauss-Seidel. More...

Data< int >	d_maxIt
	Maximum number of iterations of the Gauss-Seidel. More...

Data< bool >	d_doCollisionsFirst
	Compute the collisions first (to support penality-based contacts) More...

Data< bool >	d_doubleBuffer
	Double the buffer dedicated to the constraint problem to make it accessible to another thread. More...

Data< bool >	d_scaleTolerance
	Scale the error tolerance with the number of constraints. More...

Data< bool >	d_allVerified
	All contraints must be verified (each constraint's error < tolerance) More...

Data< SReal >	d_sor
	Successive Over Relaxation parameter (0-2) More...

Data< bool >	d_schemeCorrection
	Apply new scheme where compliance is progressively corrected. More...

Data< bool >	d_realTimeCompensation
	If the total computational time T < dt, sleep(dt-T) More...

Data< bool >	d_activateSubGraph

Data< std::map< std::string, sofa::type::vector< SReal > > >	d_graphErrors
	Sum of the constraints' errors at each iteration. More...

Data< std::map< std::string, sofa::type::vector< SReal > > >	d_graphConstraints
	Graph of each constraint's error at the end of the resolution. More...

Data< std::map< std::string, sofa::type::vector< SReal > > >	d_graphForces
	Graph of each constraint's force at each step of the resolution. More...

Public Attributes inherited from sofa::core::behavior::BaseAnimationLoop
SingleLink< BaseAnimationLoop, core::objectmodel::BaseNode, BaseLink::FLAG_STOREPATH >	l_node

Data< bool >	d_computeBoundingBox
	If true, compute the global bounding box of the scene at each time step. Used mostly for rendering. More...

Public Attributes inherited from sofa::core::objectmodel::BaseObject
Data< bool >	f_listening
	if true, handle the events, otherwise ignore the events More...

Public Attributes inherited from sofa::core::objectmodel::Base
std::vector< lifecycle::DeprecatedData * >	m_oldAttributes

Data< int >	d_messageLogCount

Data< std::string >	name
	Name of the object. More...

Data< bool >	f_printLog
	if true, emits extra messages at runtime. More...

Data< sofa::core::objectmodel::TagSet >	f_tags
	list of the subsets the objet belongs to More...

Data< sofa::type::BoundingBox >	f_bbox
	this object bounding box More...

Data< sofa::core::objectmodel::ComponentState >	d_componentState
	The state of the component among (Dirty, Valid, Undefined, Loading, Invalid). More...

std::string	m_definitionSourceFileName {""}

int	m_definitionSourceFilePos {-1}

std::string	m_instanciationSourceFileName {""}

int	m_instanciationSourceFilePos {-1}

Protected Attributes
std::vector< core::behavior::BaseConstraintCorrection * >	constraintCorrections

sofa::helper::system::thread::CTime *	timer

SReal	timeScale

SReal	time

unsigned int	numConstraints

bool	bufCP1

SReal	compTime

SReal	iterationTime

Protected Attributes inherited from sofa::core::behavior::BaseAnimationLoop
SReal	m_resetTime
	Stores starting time of the simulation. More...

Protected Attributes inherited from sofa::core::objectmodel::BaseObject
SingleLink< BaseObject, BaseContext, BaseLink::FLAG_DOUBLELINK >	l_context

LinkSlaves	l_slaves

SingleLink< BaseObject, BaseObject, BaseLink::FLAG_DOUBLELINK >	l_master

Protected Attributes inherited from sofa::core::objectmodel::Base
std::map< std::string, sofa::core::DataTrackerCallback >	m_internalEngine

VecData	m_vecData
	List of fields (Data instances) More...

MapData	m_aliasData
	name -> Data multi-map (includes names and aliases) More...

VecLink	m_vecLink
	List of links. More...

MapLink	m_aliasLink
	name -> Link multi-map (includes names and aliases) More...

Public Member Functions
	SOFA_CLASS (ConstraintAnimationLoop, sofa::simulation::CollisionAnimationLoop)

void	step (const core::ExecParams *params, SReal dt) override

void	init () override
	Initialization method called at graph creation and modification, during top-down traversal. More...

ConstraintProblem *	getConstraintProblem ()

Public Member Functions inherited from sofa::core::behavior::BaseAnimationLoop
	SOFA_ABSTRACT_CLASS (BaseAnimationLoop, objectmodel::BaseObject)

void	init () override
	Initialization method called at graph creation and modification, during top-down traversal. More...

SReal	getResetTime () const
	Returns starting time of the simulation. More...

bool	insertInNode (objectmodel::BaseNode *node) override

bool	removeInNode (objectmodel::BaseNode *node) override

Public Member Functions inherited from sofa::core::objectmodel::BaseObject
	SOFA_CLASS (BaseObject, Base)

virtual void	draw (const core::visual::VisualParams *)
	Render internal data of this object, for debugging purposes. More...

virtual void	computeBBox (const core::ExecParams *, bool=false)

void	setSrc (const std::string &v, std::vector< std::string > *attributeList=nullptr)
	Sets a source Object and parses it to collect dependent Data. More...

void	setSrc (const std::string &v, const BaseObject loader, std::vector< std::string > attributeList=nullptr)

Base *	findLinkDestClass (const BaseClass destType, const std::string &path, const BaseLink link) override

virtual std::string	getPathName () const override
	Return the full path name of this object. More...

SReal	getTime () const
	Current time. More...

const BaseContext *	getContext () const

BaseContext *	getContext ()

const BaseObject *	getMaster () const

BaseObject *	getMaster ()

const VecSlaves &	getSlaves () const

BaseObject *	getSlave (const std::string &name) const

virtual void	addSlave (BaseObject::SPtr s)

virtual void	removeSlave (BaseObject::SPtr s)

virtual void	handleEvent (Event *)
	Handle an event. More...

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 ()

Public Member Functions inherited from sofa::core::objectmodel::Base
virtual const BaseClass *	getClass () const

void	addDeprecatedAttribute (lifecycle::DeprecatedData *attribute)

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)

void	addOutputsToCallback (const std::string &name, std::initializer_list< BaseData * > outputs)

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

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)

Protected Member Functions
	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) = HCHt 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 ()

Protected Member Functions inherited from sofa::simulation::CollisionAnimationLoop
	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 ()

Protected Member Functions inherited from sofa::core::behavior::BaseAnimationLoop
	BaseAnimationLoop ()

	~BaseAnimationLoop () override

void	storeResetState () override
	Save the initial state for later uses in reset() More...

Protected Member Functions inherited from sofa::core::objectmodel::BaseObject
	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...

Protected Member Functions inherited from sofa::core::objectmodel::Base
	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...

Additional Inherited Members
Static Public Member Functions inherited from sofa::core::objectmodel::BaseObject
template<class T >
static bool	canCreate (T , BaseContext , BaseObjectDescription *)
	Pre-construction check method called by ObjectFactory. More...

template<class T >
static T::SPtr	create (T , BaseContext context, BaseObjectDescription *arg)
	Construction method called by ObjectFactory. More...

Static Public Member Functions inherited from sofa::core::objectmodel::Base
static const BaseClass *	GetClass ()

template<class T >
static std::string	shortName (const T ptr=nullptr, BaseObjectDescription =nullptr)

Attribute details

◆ bufCP1

bool sofa::component::animationloop::ConstraintAnimationLoop::bufCP1

protected

◆ compTime

SReal sofa::component::animationloop::ConstraintAnimationLoop::compTime

protected

◆ constraintCorrections

std::vector<core::behavior::BaseConstraintCorrection*> sofa::component::animationloop::ConstraintAnimationLoop::constraintCorrections

protected

◆ d_activateSubGraph

Data<bool> sofa::component::animationloop::ConstraintAnimationLoop::d_activateSubGraph

◆ d_allVerified

Data<bool> sofa::component::animationloop::ConstraintAnimationLoop::d_allVerified

All contraints must be verified (each constraint's error < tolerance)

◆ d_displayTime

Data<bool> sofa::component::animationloop::ConstraintAnimationLoop::d_displayTime

Display time for each important step of ConstraintAnimationLoop.

◆ d_doCollisionsFirst

Data<bool> sofa::component::animationloop::ConstraintAnimationLoop::d_doCollisionsFirst

Compute the collisions first (to support penality-based contacts)

◆ d_doubleBuffer

Data<bool> sofa::component::animationloop::ConstraintAnimationLoop::d_doubleBuffer

Double the buffer dedicated to the constraint problem to make it accessible to another thread.

◆ d_graphConstraints

Data<std::map < std::string, sofa::type::vector<SReal> > > sofa::component::animationloop::ConstraintAnimationLoop::d_graphConstraints

Graph of each constraint's error at the end of the resolution.

◆ d_graphErrors

Data<std::map < std::string, sofa::type::vector<SReal> > > sofa::component::animationloop::ConstraintAnimationLoop::d_graphErrors

Sum of the constraints' errors at each iteration.

◆ d_graphForces

Data<std::map < std::string, sofa::type::vector<SReal> > > sofa::component::animationloop::ConstraintAnimationLoop::d_graphForces

Graph of each constraint's force at each step of the resolution.

◆ d_maxIt

Data<int> sofa::component::animationloop::ConstraintAnimationLoop::d_maxIt

Maximum number of iterations of the Gauss-Seidel.

◆ d_realTimeCompensation

Data<bool> sofa::component::animationloop::ConstraintAnimationLoop::d_realTimeCompensation

If the total computational time T < dt, sleep(dt-T)

◆ d_scaleTolerance

Data<bool> sofa::component::animationloop::ConstraintAnimationLoop::d_scaleTolerance

Scale the error tolerance with the number of constraints.

◆ d_schemeCorrection

Data<bool> sofa::component::animationloop::ConstraintAnimationLoop::d_schemeCorrection

Apply new scheme where compliance is progressively corrected.

◆ d_sor

Data<SReal> sofa::component::animationloop::ConstraintAnimationLoop::d_sor

Successive Over Relaxation parameter (0-2)

◆ d_tol

Data<SReal> sofa::component::animationloop::ConstraintAnimationLoop::d_tol

Tolerance of the Gauss-Seidel.

◆ iterationTime

SReal sofa::component::animationloop::ConstraintAnimationLoop::iterationTime

protected

◆ numConstraints

unsigned int sofa::component::animationloop::ConstraintAnimationLoop::numConstraints

protected

◆ time

SReal sofa::component::animationloop::ConstraintAnimationLoop::time

protected

◆ timer

sofa::helper::system::thread::CTime* sofa::component::animationloop::ConstraintAnimationLoop::timer

protected

◆ timeScale

SReal sofa::component::animationloop::ConstraintAnimationLoop::timeScale

protected

Constructor details

◆ ConstraintAnimationLoop()

sofa::component::animationloop::ConstraintAnimationLoop::ConstraintAnimationLoop ( )

protected

◆ ~ConstraintAnimationLoop()

sofa::component::animationloop::ConstraintAnimationLoop::~ConstraintAnimationLoop ( )

overrideprotected

Function details

◆ computeComplianceInConstraintSpace()

void sofa::component::animationloop::ConstraintAnimationLoop::computeComplianceInConstraintSpace ( )

protectedvirtual

4.calling addComplianceInConstraintSpace projected in the contact space => getDelassusOperator(_W) = H*C*Ht

◆ computePredictiveForce()

void sofa::component::animationloop::ConstraintAnimationLoop::computePredictiveForce	(	int	dim,
		SReal *	force,
		std::vector< core::behavior::ConstraintResolution * > &	res
	)

protected

method for predictive scheme:

◆ correctiveMotion()

void sofa::component::animationloop::ConstraintAnimationLoop::correctiveMotion	(	const core::ExecParams *	params,
		simulation::Node *	context
	)

protected

◆ debugWithContact()

void sofa::component::animationloop::ConstraintAnimationLoop::debugWithContact ( int numConstraints )

protected

◆ freeMotion()

void sofa::component::animationloop::ConstraintAnimationLoop::freeMotion	(	const core::ExecParams *	params,
		simulation::Node *	context,
		SReal &	dt
	)

protected

◆ gaussSeidelConstraint()

void sofa::component::animationloop::ConstraintAnimationLoop::gaussSeidelConstraint	(	int	dim,
		SReal *	dfree,
		SReal **	w,
		SReal *	force,
		SReal *	d,
		std::vector< core::behavior::ConstraintResolution * > &	res,
		SReal *	df = `nullptr`
	)

protected

◆ getConstraintProblem()

ConstraintProblem* sofa::component::animationloop::ConstraintAnimationLoop::getConstraintProblem ( )

inline

◆ getCP()

ConstraintProblem * sofa::component::animationloop::ConstraintAnimationLoop::getCP ( )

protectedvirtual

◆ getIndividualConstraintSolvingProcess()

void sofa::component::animationloop::ConstraintAnimationLoop::getIndividualConstraintSolvingProcess	(	const core::ExecParams *	params,
		simulation::Node *	context
	)

protected

3.calling getConstraintResolution: each constraint provides a method that is used to solve it during GS iterations

◆ getIndividualConstraintViolations()

void sofa::component::animationloop::ConstraintAnimationLoop::getIndividualConstraintViolations	(	const core::ExecParams *	params,
		simulation::Node *	context
	)

protected

2.calling GetConstraintViolationVisitor: each constraint provides its present violation for a given state (by default: free_position TODO: add VecId to make this method more generic)

◆ init()

void sofa::component::animationloop::ConstraintAnimationLoop::init ( void )

overridevirtual

Initialization method called at graph creation and modification, during top-down traversal.

Reimplemented from sofa::core::objectmodel::BaseObject.

◆ launchCollisionDetection()

void sofa::component::animationloop::ConstraintAnimationLoop::launchCollisionDetection ( const core::ExecParams * params )

protected

◆ setConstraintEquations()

void sofa::component::animationloop::ConstraintAnimationLoop::setConstraintEquations	(	const core::ExecParams *	params,
		simulation::Node *	context
	)

protected

◆ SOFA_CLASS()

sofa::component::animationloop::ConstraintAnimationLoop::SOFA_CLASS	(	ConstraintAnimationLoop	,
		sofa::simulation::CollisionAnimationLoop
	)

◆ step()

void sofa::component::animationloop::ConstraintAnimationLoop::step	(	const core::ExecParams *	params,
		SReal	dt
	)

overridevirtual

Main computation method.

Specify and execute all computations for computing a timestep, such as one or more collisions and integrations stages.

Implements sofa::core::behavior::BaseAnimationLoop.

◆ writeAndAccumulateAndCountConstraintDirections()

void sofa::component::animationloop::ConstraintAnimationLoop::writeAndAccumulateAndCountConstraintDirections	(	const core::ExecParams *	params,
		simulation::Node *	context,
		unsigned int &	numConstraints
	)

protected

Specific procedures that are called for setting the constraints:

1.calling resetConstraint & setConstraint & accumulateConstraint visitors and resize the constraint problem that will be solved

Public Attributes

Protected Attributes

Public Member Functions

Protected Member Functions

Additional Inherited Members

Attribute details

◆ bufCP1

◆ compTime

◆ constraintCorrections

◆ d_activateSubGraph

◆ d_allVerified

◆ d_displayTime

◆ d_doCollisionsFirst

◆ d_doubleBuffer

◆ d_graphConstraints

◆ d_graphErrors

◆ d_graphForces

◆ d_maxIt

◆ d_realTimeCompensation

◆ d_scaleTolerance

◆ d_schemeCorrection

◆ d_sor

◆ d_tol

◆ iterationTime

◆ numConstraints

◆ time

◆ timer

◆ timeScale

Constructor details

◆ ConstraintAnimationLoop()

◆ ~ConstraintAnimationLoop()

Function details

◆ computeComplianceInConstraintSpace()

◆ computePredictiveForce()

◆ correctiveMotion()

◆ debugWithContact()

◆ freeMotion()

◆ gaussSeidelConstraint()

◆ getConstraintProblem()

◆ getCP()

◆ getIndividualConstraintSolvingProcess()

◆ getIndividualConstraintViolations()

◆ init()

◆ launchCollisionDetection()

◆ setConstraintEquations()

◆ SOFA_CLASS()

◆ step()

◆ writeAndAccumulateAndCountConstraintDirections()