SOFA API  7dc68564
Open source framework for multi-physics simuation
sofa::component::collision::response::contact::BarycentricStickContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes > Class Template Reference

#include <BarycentricStickContact.h>

Inheritance diagram for sofa::component::collision::response::contact::BarycentricStickContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >:

Public Attributes

sofa::core::objectmodel::RenamedData< boolf_keepAlive
 
Data< boold_keepAlive
 set to true to keep this contact alive even after collisions are no longer detected More...
 
- 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
std::vector< lifecycle::DeprecatedData * > m_oldAttributes
 
Data< int > d_messageLogCount
 
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 object belongs to More...
 
Data< sofa::type::BoundingBoxf_bbox
 this object bounding box More...
 
Data< sofa::core::objectmodel::ComponentStated_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

CollisionModel1model1
 
CollisionModel2model2
 
IntersectionintersectionMethod
 
mapper::ContactMapper< CollisionModel1, DataTypes1mapper1
 
mapper::ContactMapper< CollisionModel2, DataTypes2mapper2
 
ResponseForceField::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(BarycentricStickContact, 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
 
bool keepAlive () override
 Return true if this contact should be kept alive, even if objects are no longer in collision. More...
 
void setKeepAlive (bool val) override
 Control the keepAlive flag of the contact. More...
 
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)
 
- 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)
 
BasefindLinkDestClass (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 *)
 
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 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::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 (::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 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

 BarycentricStickContact (CollisionModel1 *model1, CollisionModel2 *model2, Intersection *intersectionMethod)
 
 ~BarycentricStickContact () 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

- 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 std::string shortName (const T *ptr=nullptr, BaseObjectDescription *=nullptr)
 

Attribute details

◆ contactIndex

template<class TCollisionModel1 , class TCollisionModel2 , class ResponseDataTypes = sofa::defaulttype::Vec3Types>
ContactIndexMap sofa::component::collision::response::contact::BarycentricStickContact< 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

◆ d_keepAlive

template<class TCollisionModel1 , class TCollisionModel2 , class ResponseDataTypes = sofa::defaulttype::Vec3Types>
Data<bool> sofa::component::collision::response::contact::BarycentricStickContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::d_keepAlive

set to true to keep this contact alive even after collisions are no longer detected

◆ f_keepAlive

template<class TCollisionModel1 , class TCollisionModel2 , class ResponseDataTypes = sofa::defaulttype::Vec3Types>
sofa::core::objectmodel::RenamedData<bool> sofa::component::collision::response::contact::BarycentricStickContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::f_keepAlive

◆ ff

template<class TCollisionModel1 , class TCollisionModel2 , class ResponseDataTypes = sofa::defaulttype::Vec3Types>
ResponseForceField::SPtr sofa::component::collision::response::contact::BarycentricStickContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::ff
protected

◆ intersectionMethod

template<class TCollisionModel1 , class TCollisionModel2 , class ResponseDataTypes = sofa::defaulttype::Vec3Types>
Intersection* sofa::component::collision::response::contact::BarycentricStickContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::intersectionMethod
protected

◆ mapper1

template<class TCollisionModel1 , class TCollisionModel2 , class ResponseDataTypes = sofa::defaulttype::Vec3Types>
mapper::ContactMapper<CollisionModel1, DataTypes1> sofa::component::collision::response::contact::BarycentricStickContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::mapper1
protected

◆ mapper2

template<class TCollisionModel1 , class TCollisionModel2 , class ResponseDataTypes = sofa::defaulttype::Vec3Types>
mapper::ContactMapper<CollisionModel2, DataTypes2> sofa::component::collision::response::contact::BarycentricStickContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::mapper2
protected

◆ model1

template<class TCollisionModel1 , class TCollisionModel2 , class ResponseDataTypes = sofa::defaulttype::Vec3Types>
CollisionModel1* sofa::component::collision::response::contact::BarycentricStickContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::model1
protected

◆ model2

template<class TCollisionModel1 , class TCollisionModel2 , class ResponseDataTypes = sofa::defaulttype::Vec3Types>
CollisionModel2* sofa::component::collision::response::contact::BarycentricStickContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::model2
protected

◆ parent

template<class TCollisionModel1 , class TCollisionModel2 , class ResponseDataTypes = sofa::defaulttype::Vec3Types>
core::objectmodel::BaseContext* sofa::component::collision::response::contact::BarycentricStickContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::parent
protected

Constructor details

◆ BarycentricStickContact()

template<class TCollisionModel1 , class TCollisionModel2 , class ResponseDataTypes >
sofa::component::collision::response::contact::BarycentricStickContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::BarycentricStickContact ( CollisionModel1 model1,
CollisionModel2 model2,
Intersection intersectionMethod 
)
protected

◆ ~BarycentricStickContact()

template<class TCollisionModel1 , class TCollisionModel2 , class ResponseDataTypes >
sofa::component::collision::response::contact::BarycentricStickContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::~BarycentricStickContact
overrideprotected

Function details

◆ cleanup()

template<class TCollisionModel1 , class TCollisionModel2 , class ResponseDataTypes >
void sofa::component::collision::response::contact::BarycentricStickContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::cleanup
overridevirtual

Called just before deleting this object Any object in the tree below 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.

◆ createResponse()

template<class TCollisionModel1 , class TCollisionModel2 , class ResponseDataTypes >
void sofa::component::collision::response::contact::BarycentricStickContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::createResponse ( core::objectmodel::BaseContext group)
overridevirtual

◆ draw()

template<class TCollisionModel1 , class TCollisionModel2 , class ResponseDataTypes >
void sofa::component::collision::response::contact::BarycentricStickContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::draw ( const core::visual::VisualParams )
overridevirtual

Render internal data of this object, for debugging purposes.

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

◆ getCollisionModels()

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

Get the pair of collision models which are in contact.

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

◆ keepAlive()

template<class TCollisionModel1 , class TCollisionModel2 , class ResponseDataTypes = sofa::defaulttype::Vec3Types>
bool sofa::component::collision::response::contact::BarycentricStickContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::keepAlive ( )
inlineoverridevirtual

Return true if this contact should be kept alive, even if objects are no longer in collision.

Reimplemented from sofa::core::collision::Contact.

◆ removeResponse()

template<class TCollisionModel1 , class TCollisionModel2 , class ResponseDataTypes >
void sofa::component::collision::response::contact::BarycentricStickContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::removeResponse
overridevirtual

◆ setDetectionOutputs()

template<class TCollisionModel1 , class TCollisionModel2 , class ResponseDataTypes >
void sofa::component::collision::response::contact::BarycentricStickContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::setDetectionOutputs ( OutputVector outputs)
overridevirtual

Set the generic description of a contact point.

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

◆ setInteractionTags()

template<class TCollisionModel1 , class TCollisionModel2 , class ResponseDataTypes >
void sofa::component::collision::response::contact::BarycentricStickContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::setInteractionTags ( MechanicalState1 mstate1,
MechanicalState2 mstate2 
)
protected

◆ setKeepAlive()

template<class TCollisionModel1 , class TCollisionModel2 , class ResponseDataTypes = sofa::defaulttype::Vec3Types>
void sofa::component::collision::response::contact::BarycentricStickContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::setKeepAlive ( bool  val)
inlineoverridevirtual

Control the keepAlive flag of the contact.

Reimplemented from sofa::core::collision::Contact.

◆ SOFA_CLASS()

template<class TCollisionModel1 , class TCollisionModel2 , class ResponseDataTypes = sofa::defaulttype::Vec3Types>
sofa::component::collision::response::contact::BarycentricStickContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::SOFA_CLASS ( SOFA_TEMPLATE3(BarycentricStickContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >, TCollisionModel1, TCollisionModel2, ResponseDataTypes)  ,
core::collision::Contact   
)