SOFA API  6a688117
Open source framework for multi-physics simuation
sofa::component::collision::BarycentricDistanceLMConstraintContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes > Class Template Reference

#include <BarycentricDistanceLMConstraintContact.h>

Inheritance diagram for sofa::component::collision::BarycentricDistanceLMConstraintContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >:

Protected Attributes

CollisionModel1model1
 
CollisionModel2model2
 
IntersectionintersectionMethod
 
ContactMapper< CollisionModel1, DataTypes1mapper1
 
ContactMapper< CollisionModel2, DataTypes2mapper2
 
ResponseType::SPtr ff
 
core::objectmodel::BaseContextparent
 
ContactIndexMap contactIndex
 
- Protected Attributes inherited from sofa::core::objectmodel::BaseObject
SingleLink< BaseObject, BaseContext, BaseLink::FLAG_DOUBLELINKl_context
 
LinkSlaves l_slaves
 
SingleLink< BaseObject, BaseObject, BaseLink::FLAG_DOUBLELINKl_master
 
- Protected Attributes inherited from sofa::core::objectmodel::Base
std::map< std::string, sofa::core::DataTrackerCallbackm_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 (SOFA_TEMPLATE3(BarycentricDistanceLMConstraintContact, TCollisionModel1, TCollisionModel2, ResponseDataTypes), core::collision::Contact)
 
void cleanup () override
 
std::pair< core::CollisionModel *, core::CollisionModel * > getCollisionModels () override
 Get the pair of collision models which are in contact. More...
 
void setDetectionOutputs (OutputVector *outputs) override
 Set the generic description of a contact point. More...
 
void createResponse (core::objectmodel::BaseContext *group) override
 
void removeResponse () override
 
void draw (const core::visual::VisualParams *vparams) override
 Render internal data of this object, for debugging purposes. More...
 
- Public Member Functions inherited from sofa::core::collision::Contact
 SOFA_ABSTRACT_CLASS (Contact, objectmodel::BaseObject)
 
virtual bool keepAlive ()
 Return true if this contact should be kept alive, even if objects are no longer in collision. More...
 
virtual void setKeepAlive (bool)
 Control the keepAlive flag of the contact. Note that not all contacts support this method. More...
 
- Public Member Functions inherited from sofa::core::objectmodel::BaseObject
 SOFA_CLASS (BaseObject, Base)
 
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)
 
void * 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...
 
virtual bool insertInNode (BaseNode *)
 
virtual bool removeInNode (BaseNode *)
 
template<class T >
T::SPtr searchLocal () const
 Local search of an object of the given type. More...
 
template<class T >
T::SPtr searchUp () const
 Upward search of an object of the given type, starting from the local context. More...
 
template<class T >
T::SPtr searchDown () const
 Downward search of an object of the given type, starting from the local context. More...
 
template<class T >
T::SPtr searchFromRoot () const
 
template<class T >
T::SPtr searchInParents () const
 
template<class T >
helper::vector< typename T::SPtr > searchAllLocal () const
 Local search of all objects of the given type. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllUp () const
 Upward search of all objects of the given type, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllDown () const
 Downward search of all objects of the given type, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllFromRoot () const
 Search of all objects of the given type, starting from the root. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllInParents () const
 
template<class T >
helper::vector< typename T::SPtr > searchAllLocal (const Tag &t) const
 Local search of all objects of the given type with a given Tag. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllUp (const Tag &t) const
 Upward search of all objects of the given type with a given Tag, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllDown (const Tag &t) const
 Downward search of all objects of the given typee with a given Tag, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllFromRoot (const Tag &t) const
 Search of all objects of the given typee with a given Tag, starting from the root. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllInParents (const Tag &t) const
 
template<class T >
helper::vector< typename T::SPtr > searchAllLocal (const TagSet &t) const
 Local search of all objects of the given type with a given TagSet. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllUp (const TagSet &t) const
 Upward search of all objects of the given type with a given TagSet, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllDown (const TagSet &t) const
 Downward search of all objects of the given typee with a given TagSet, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllFromRoot (const TagSet &t) const
 Search of all objects of the given typee with a given TagSet, starting from the root. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllInParents (const TagSet &t) const
 
SReal getTime () const
 Current time. More...
 
const BaseContextgetContext () const
 
BaseContextgetContext ()
 
const BaseObjectgetMaster () const
 
BaseObjectgetMaster ()
 
const VecSlavesgetSlaves () const
 
BaseObjectgetSlave (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 init ()
 Initialization method called at graph creation and modification, during top-down traversal. 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 storeResetState ()
 Save the initial state for later uses in reset() More...
 
virtual void reset ()
 Reset to initial state. More...
 
- Public Member Functions inherited from sofa::core::objectmodel::Base
virtual const BaseClassgetClass () const
 
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...
 
virtual 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
 Get the template type names (if any) used to instantiate this object. More...
 
virtual 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
 
const std::string getWarnings () const
 
const std::string getOutputs () const
 use getLoggedMessageAsString() or getLoggedMessage instead. More...
 
void clearWarnings ()
 use getLoggedMessageAsString() or getLoggedMessage instead. More...
 
void clearOutputs ()
 use clearLoggedMessages() instead More...
 
void processStream (std::ostream &out)
 use clearLoggedMessages() instead More...
 
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
 
bool IsInheritingFromBase ()
 
const sofa::core::objectmodel::TagSetgetTags () 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=" ")
 
BaseDatafindData (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...
 
BaseLinkfindLink (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 (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 VecDatagetDataFields () const
 Accessor to the vector containing all the fields of this object. More...
 
const MapDatagetDataAliases () const
 Accessor to the map containing all the aliases of this object. More...
 
const VecLinkgetLinks () const
 Accessor to the vector containing all the fields of this object. More...
 
const MapLinkgetLinkAliases () 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

 BarycentricDistanceLMConstraintContact (CollisionModel1 *model1, CollisionModel2 *model2, Intersection *intersectionMethod)
 
 ~BarycentricDistanceLMConstraintContact () override
 
void setInteractionTags (MechanicalState1 *mstate1, MechanicalState2 *mstate2)
 
- Protected Member Functions inherited from sofa::core::collision::Contact
 Contact ()
 
 ~Contact () override
 Destructor. 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

- Public Attributes inherited from sofa::core::objectmodel::BaseObject
Data< boolf_listening
 if true, handle the events, otherwise ignore the events More...
 
- Public Attributes inherited from sofa::core::objectmodel::Base
helper::system::SofaOStream< helper::logging::Message::Warningserr
 
helper::system::SofaOStream< helper::logging::Message::Infosout
 
helper::system::SofaEndl< Basesendl
 runs the stream processing More...
 
Data< std::string > name
 Name of the object. More...
 
Data< boolf_printLog
 if true, emits extra messages at runtime. More...
 
Data< sofa::core::objectmodel::TagSetf_tags
 list of the subsets the objet belongs to More...
 
Data< sofa::defaulttype::BoundingBoxf_bbox
 this object bounding box More...
 
Data< sofa::core::objectmodel::ComponentStated_componentState
 the object state More...
 
DeprecatedAndRemoved m_componentstate
 
DeprecatedAndRemoved d_componentstate
 
std::string m_definitionSourceFileName {""}
 
int m_definitionSourceFilePos {-1}
 
std::string m_instanciationSourceFileName {""}
 
int m_instanciationSourceFilePos {-1}
 
- Static Public Member Functions inherited from sofa::core::collision::Contact
static Contact::SPtr Create (const std::string &type, core::CollisionModel *model1, core::CollisionModel *model2, Intersection *intersectionMethod, bool verbose=true)
 Create a new contact given 2 collision elements and an intersection method. More...
 
template<class RealContact >
static RealContact::SPtr create (RealContact *, std::pair< std::pair< core::CollisionModel *, core::CollisionModel * >, Intersection * > arg)
 
- 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 BaseClassGetClass ()
 
template<class T >
static void dynamicCast (T *&ptr, Base *b)
 
template<class T >
static std::string typeName (const T *ptr=nullptr)
 
template<class T >
static std::string className (const T *ptr=nullptr)
 
template<class T >
static std::string namespaceName (const T *ptr=nullptr)
 
template<class T >
static std::string templateName (const T *ptr=nullptr)
 
template<class T >
static std::string shortName (const T *ptr=nullptr, BaseObjectDescription *=nullptr)
 

Attribute details

template<class TCollisionModel1 , class TCollisionModel2 , class ResponseDataTypes = sofa::defaulttype::Vec3Types>
ContactIndexMap sofa::component::collision::BarycentricDistanceLMConstraintContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::contactIndex
protected

Mapping of contactids to force element (+1, so that 0 means not active). This allows to ignore duplicate contacts, and preserve information associated with each contact point over time

template<class TCollisionModel1 , class TCollisionModel2 , class ResponseDataTypes = sofa::defaulttype::Vec3Types>
ResponseType::SPtr sofa::component::collision::BarycentricDistanceLMConstraintContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::ff
protected
template<class TCollisionModel1 , class TCollisionModel2 , class ResponseDataTypes = sofa::defaulttype::Vec3Types>
Intersection* sofa::component::collision::BarycentricDistanceLMConstraintContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::intersectionMethod
protected
template<class TCollisionModel1 , class TCollisionModel2 , class ResponseDataTypes = sofa::defaulttype::Vec3Types>
ContactMapper<CollisionModel1,DataTypes1> sofa::component::collision::BarycentricDistanceLMConstraintContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::mapper1
protected
template<class TCollisionModel1 , class TCollisionModel2 , class ResponseDataTypes = sofa::defaulttype::Vec3Types>
ContactMapper<CollisionModel2,DataTypes2> sofa::component::collision::BarycentricDistanceLMConstraintContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::mapper2
protected
template<class TCollisionModel1 , class TCollisionModel2 , class ResponseDataTypes = sofa::defaulttype::Vec3Types>
CollisionModel1* sofa::component::collision::BarycentricDistanceLMConstraintContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::model1
protected
template<class TCollisionModel1 , class TCollisionModel2 , class ResponseDataTypes = sofa::defaulttype::Vec3Types>
CollisionModel2* sofa::component::collision::BarycentricDistanceLMConstraintContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::model2
protected
template<class TCollisionModel1 , class TCollisionModel2 , class ResponseDataTypes = sofa::defaulttype::Vec3Types>
core::objectmodel::BaseContext* sofa::component::collision::BarycentricDistanceLMConstraintContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::parent
protected

Constructor details

template<class TCollisionModel1 , class TCollisionModel2 , class ResponseDataTypes >
sofa::component::collision::BarycentricDistanceLMConstraintContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::BarycentricDistanceLMConstraintContact ( CollisionModel1 model1,
CollisionModel2 model2,
Intersection intersectionMethod 
)
protected
template<class TCollisionModel1 , class TCollisionModel2 , class ResponseDataTypes >
sofa::component::collision::BarycentricDistanceLMConstraintContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::~BarycentricDistanceLMConstraintContact ( )
overrideprotected

Function details

template<class TCollisionModel1 , class TCollisionModel2 , class ResponseDataTypes >
void sofa::component::collision::BarycentricDistanceLMConstraintContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::cleanup ( )
overridevirtual

Called just before deleting this object Any object in the tree bellow this object that are to be removed will be removed only after this call, so any references this object holds should still be valid.

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

template<class TCollisionModel1 , class TCollisionModel2 , class ResponseDataTypes >
void sofa::component::collision::BarycentricDistanceLMConstraintContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::createResponse ( core::objectmodel::BaseContext group)
overridevirtual
template<class TCollisionModel1 , class TCollisionModel2 , class ResponseDataTypes >
void sofa::component::collision::BarycentricDistanceLMConstraintContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::draw ( const core::visual::VisualParams )
overridevirtual

Render internal data of this object, for debugging purposes.

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

template<class TCollisionModel1 , class TCollisionModel2 , class ResponseDataTypes = sofa::defaulttype::Vec3Types>
std::pair<core::CollisionModel*,core::CollisionModel*> sofa::component::collision::BarycentricDistanceLMConstraintContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::getCollisionModels ( )
inlineoverridevirtual

Get the pair of collision models which are in contact.

Implements sofa::core::collision::Contact.

template<class TCollisionModel1 , class TCollisionModel2 , class ResponseDataTypes >
void sofa::component::collision::BarycentricDistanceLMConstraintContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::removeResponse ( )
overridevirtual
template<class TCollisionModel1 , class TCollisionModel2 , class ResponseDataTypes >
void sofa::component::collision::BarycentricDistanceLMConstraintContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::setDetectionOutputs ( OutputVector outputs)
overridevirtual

Set the generic description of a contact point.

Implements sofa::core::collision::Contact.

template<class TCollisionModel1 , class TCollisionModel2 , class ResponseDataTypes >
void sofa::component::collision::BarycentricDistanceLMConstraintContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::setInteractionTags ( MechanicalState1 mstate1,
MechanicalState2 mstate2 
)
protected
template<class TCollisionModel1 , class TCollisionModel2 , class ResponseDataTypes = sofa::defaulttype::Vec3Types>
sofa::component::collision::BarycentricDistanceLMConstraintContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::SOFA_CLASS ( SOFA_TEMPLATE3(BarycentricDistanceLMConstraintContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >, TCollisionModel1, TCollisionModel2, ResponseDataTypes)  ,
core::collision::Contact   
)