#include <FrictionContact.h>

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

[legend]

Protected Attributes
CollisionModel1 *	model1

CollisionModel2 *	model2

Intersection *	intersectionMethod

bool	selfCollision
	true if model1==model2 (in this case, only mapper1 is used) More...

mapper::ContactMapper< CollisionModel1, DataTypes1 >	mapper1

mapper::ContactMapper< CollisionModel2, DataTypes2 >	mapper2

constraint::lagrangian::model::UnilateralLagrangianConstraint< sofa::defaulttype::Vec3Types >::SPtr	m_constraint

core::objectmodel::BaseContext *	parent

Data< double >	mu
	friction coefficient (0 for frictionless contacts) More...

Data< double >	tol
	tolerance for the constraints resolution (0 for default tolerance) More...

std::vector< sofa::core::collision::DetectionOutput * >	contacts

std::vector< std::pair< std::pair< int, int >, double > >	mappedContacts

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...

Protected Attributes inherited from sofa::component::collision::response::contact::ContactIdentifier
sofa::core::collision::DetectionOutput::ContactId	id

Public Member Functions
	SOFA_CLASS (SOFA_TEMPLATE3(FrictionContact, 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

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	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...

virtual bool	insertInNode (BaseNode *)

virtual bool	removeInNode (BaseNode *)

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	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 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)

Public Member Functions inherited from sofa::component::collision::response::contact::ContactIdentifier
	ContactIdentifier ()

virtual	~ContactIdentifier ()=default

Protected Member Functions
virtual void	activateMappers ()

void	setInteractionTags (MechanicalState1 mstate1, MechanicalState2 mstate2)

	FrictionContact ()

	FrictionContact (CollisionModel1 model1, CollisionModel2 model2, Intersection *intersectionMethod)

	~FrictionContact () override

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< 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 object state More...

std::string	m_definitionSourceFileName {""}

int	m_definitionSourceFilePos {-1}

std::string	m_instanciationSourceFileName {""}

int	m_instanciationSourceFilePos {-1}

Static Protected Attributes inherited from sofa::component::collision::response::contact::ContactIdentifier
static std::atomic< sofa::core::collision::DetectionOutput::ContactId >	cpt = 0

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 BaseClass *	GetClass ()

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

Attribute details

◆ contacts

template<class TCollisionModel1 , class TCollisionModel2 , class ResponseDataTypes = sofa::defaulttype::Vec3Types>

std::vector< sofa::core::collision::DetectionOutput* > sofa::component::collision::response::contact::FrictionContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::contacts

protected

◆ intersectionMethod

template<class TCollisionModel1 , class TCollisionModel2 , class ResponseDataTypes = sofa::defaulttype::Vec3Types>

Intersection* sofa::component::collision::response::contact::FrictionContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::intersectionMethod

protected

◆ m_constraint

template<class TCollisionModel1 , class TCollisionModel2 , class ResponseDataTypes = sofa::defaulttype::Vec3Types>

constraint::lagrangian::model::UnilateralLagrangianConstraint<sofa::defaulttype::Vec3Types>::SPtr sofa::component::collision::response::contact::FrictionContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::m_constraint

protected

◆ mappedContacts

template<class TCollisionModel1 , class TCollisionModel2 , class ResponseDataTypes = sofa::defaulttype::Vec3Types>

std::vector< std::pair< std::pair<int, int>, double > > sofa::component::collision::response::contact::FrictionContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::mappedContacts

protected

◆ mapper1

template<class TCollisionModel1 , class TCollisionModel2 , class ResponseDataTypes = sofa::defaulttype::Vec3Types>

mapper::ContactMapper<CollisionModel1,DataTypes1> sofa::component::collision::response::contact::FrictionContact< 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::FrictionContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::mapper2

protected

◆ model1

template<class TCollisionModel1 , class TCollisionModel2 , class ResponseDataTypes = sofa::defaulttype::Vec3Types>

CollisionModel1* sofa::component::collision::response::contact::FrictionContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::model1

protected

◆ model2

template<class TCollisionModel1 , class TCollisionModel2 , class ResponseDataTypes = sofa::defaulttype::Vec3Types>

CollisionModel2* sofa::component::collision::response::contact::FrictionContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::model2

protected

◆ mu

template<class TCollisionModel1 , class TCollisionModel2 , class ResponseDataTypes = sofa::defaulttype::Vec3Types>

Data<double> sofa::component::collision::response::contact::FrictionContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::mu

protected

friction coefficient (0 for frictionless contacts)

◆ parent

template<class TCollisionModel1 , class TCollisionModel2 , class ResponseDataTypes = sofa::defaulttype::Vec3Types>

core::objectmodel::BaseContext* sofa::component::collision::response::contact::FrictionContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::parent

protected

◆ selfCollision

template<class TCollisionModel1 , class TCollisionModel2 , class ResponseDataTypes = sofa::defaulttype::Vec3Types>

bool sofa::component::collision::response::contact::FrictionContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::selfCollision

protected

true if model1==model2 (in this case, only mapper1 is used)

◆ tol

template<class TCollisionModel1 , class TCollisionModel2 , class ResponseDataTypes = sofa::defaulttype::Vec3Types>

Data<double> sofa::component::collision::response::contact::FrictionContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::tol

protected

tolerance for the constraints resolution (0 for default tolerance)

Constructor details

◆ FrictionContact() [1/2]

template<class TCollisionModel1 , class TCollisionModel2 , class ResponseDataTypes >

sofa::component::collision::response::contact::FrictionContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::FrictionContact

protected

◆ FrictionContact() [2/2]

template<class TCollisionModel1 , class TCollisionModel2 , class ResponseDataTypes >

sofa::component::collision::response::contact::FrictionContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::FrictionContact	(	CollisionModel1 *	model1,
		CollisionModel2 *	model2,
		Intersection *	intersectionMethod
	)

protected

◆ ~FrictionContact()

template<class TCollisionModel1 , class TCollisionModel2 , class ResponseDataTypes >

sofa::component::collision::response::contact::FrictionContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::~FrictionContact

overrideprotected

Function details

◆ activateMappers()

template<class TCollisionModel1 , class TCollisionModel2 , class ResponseDataTypes >

void sofa::component::collision::response::contact::FrictionContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::activateMappers

protectedvirtual

◆ cleanup()

template<class TCollisionModel1 , class TCollisionModel2 , class ResponseDataTypes >

void sofa::component::collision::response::contact::FrictionContact< 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.

◆ createResponse()

template<class TCollisionModel1 , class TCollisionModel2 , class ResponseDataTypes >

void sofa::component::collision::response::contact::FrictionContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::createResponse ( core::objectmodel::BaseContext * group )

overridevirtual

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

◆ getCollisionModels()

template<class TCollisionModel1 , class TCollisionModel2 , class ResponseDataTypes = sofa::defaulttype::Vec3Types>

std::pair<core::CollisionModel*,core::CollisionModel*> sofa::component::collision::response::contact::FrictionContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::getCollisionModels ( )

inlineoverridevirtual

Get the pair of collision models which are in contact.

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

◆ removeResponse()

template<class TCollisionModel1 , class TCollisionModel2 , class ResponseDataTypes >

void sofa::component::collision::response::contact::FrictionContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::removeResponse

overridevirtual

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

◆ setDetectionOutputs()

template<class TCollisionModel1 , class TCollisionModel2 , class ResponseDataTypes >

void sofa::component::collision::response::contact::FrictionContact< 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::FrictionContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::setInteractionTags	(	MechanicalState1 *	mstate1,
		MechanicalState2 *	mstate2
	)

protected

◆ SOFA_CLASS()

template<class TCollisionModel1 , class TCollisionModel2 , class ResponseDataTypes = sofa::defaulttype::Vec3Types>

sofa::component::collision::response::contact::FrictionContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >::SOFA_CLASS	(	SOFA_TEMPLATE3(FrictionContact< TCollisionModel1, TCollisionModel2, ResponseDataTypes >, TCollisionModel1, TCollisionModel2, ResponseDataTypes)	,
		core::collision::Contact
	)

Protected Attributes

Public Member Functions

Protected Member Functions

Additional Inherited Members

Attribute details

◆ contacts

◆ intersectionMethod

◆ m_constraint

◆ mappedContacts

◆ mapper1

◆ mapper2

◆ model1

◆ model2

◆ mu

◆ parent

◆ selfCollision

◆ tol

Constructor details

◆ FrictionContact() [1/2]

◆ FrictionContact() [2/2]

◆ ~FrictionContact()

Function details

◆ activateMappers()

◆ cleanup()

◆ createResponse()

◆ getCollisionModels()

◆ removeResponse()

◆ setDetectionOutputs()

◆ setInteractionTags()

◆ SOFA_CLASS()