#include <PrecomputedConstraintCorrection.h>

Component computing constraint forces within a simulated body using the compliance method. More...

Inheritance diagram for sofa::component::constraint::lagrangian::correction::PrecomputedConstraintCorrection< TDataTypes >:

[legend]

Detailed Description

template<class TDataTypes>
class sofa::component::constraint::lagrangian::correction::PrecomputedConstraintCorrection< TDataTypes >

Component computing constraint forces within a simulated body using the compliance method.

Classes
struct	InverseStorage

Public Attributes
sofa::core::objectmodel::RenamedData< bool >	m_rotations

sofa::core::objectmodel::RenamedData< bool >	m_restRotations

sofa::core::objectmodel::RenamedData< bool >	recompute

sofa::core::objectmodel::RenamedData< SReal >	debugViewFrameScale

sofa::core::objectmodel::RenamedData< std::string >	f_fileCompliance

sofa::core::objectmodel::RenamedData< std::string >	fileDir

Data< bool >	d_rotations

Data< bool >	d_restRotations

Data< bool >	d_recompute
	if true, always recompute the compliance More...

Data< SReal >	d_debugViewFrameScale
	Scale on computed node's frame. More...

sofa::core::objectmodel::DataFileName	d_fileCompliance
	Precomputed compliance matrix data file. More...

Data< std::string >	d_fileDir
	If not empty, the compliance will be saved in this repertory. More...

std::string	invName

InverseStorage *	invM

Real *	appCompliance

unsigned int	dimensionAppCompliance

unsigned int	nbRows

unsigned int	nbCols

unsigned int	dof_on_node

unsigned int	nbNodes

type::vector< int >	_indexNodeSparseCompliance

type::vector< Deriv >	_sparseCompliance

Real	Fbuf [6]

Real	DXbuf

type::vector< int >	id_to_localIndex

type::vector< unsigned int >	localIndex_to_id

std::list< unsigned int >	active_local_force

linearalgebra::FullMatrix< Real >	localW

SReal *	constraint_force

VecDeriv	constraint_D

VecDeriv	constraint_F

std::list< int >	constraint_dofs

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 object 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::list< int >	m_activeDofs

Protected Attributes inherited from sofa::core::behavior::ConstraintCorrection< TDataTypes >
MechanicalState< DataTypes > *	mstate

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 (SOFA_TEMPLATE(PrecomputedConstraintCorrection, TDataTypes), SOFA_TEMPLATE(core::behavior::ConstraintCorrection, TDataTypes))

void	bwdInit () override
	Initialization method called at graph creation and modification, during bottom-up traversal. More...

void	addComplianceInConstraintSpace (const sofa::core::ConstraintParams cparams, sofa::linearalgebra::BaseMatrix W) override

void	getComplianceMatrix (linearalgebra::BaseMatrix *m) const override
	Fill the matrix m with the full Compliance Matrix. More...

void	computeMotionCorrection (const core::ConstraintParams *, core::MultiVecDerivId dx, core::MultiVecDerivId f) override
	Compute the corrective motion coming from the motion space force. More...

void	applyMotionCorrection (const sofa::core::ConstraintParams *cparams, sofa::Data< VecCoord > &x, sofa::Data< VecDeriv > &v, sofa::Data< VecDeriv > &dx, const sofa::Data< VecDeriv > &correction) override

void	applyPositionCorrection (const sofa::core::ConstraintParams *cparams, sofa::Data< VecCoord > &x, sofa::Data< VecDeriv > &dx, const sofa::Data< VecDeriv > &correction) override

void	applyVelocityCorrection (const sofa::core::ConstraintParams *cparams, sofa::Data< VecDeriv > &v, sofa::Data< VecDeriv > &dv, const sofa::Data< VecDeriv > &correction) override

virtual void	rotateConstraints (bool back)

virtual void	rotateResponse ()

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

Real *	getInverse ()

SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_CORRECTION_API void	rotateConstraints (bool back)

SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_CORRECTION_API void	rotateConstraints (bool)

SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_CORRECTION_API void	rotateResponse ()

SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_CORRECTION_API void	rotateResponse ()

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

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

void	rotateConstraints (bool back)

void	rotateConstraints (bool back)

void	rotateResponse ()

void	rotateResponse ()

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

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

Deprecated API
void	applyContactForce (const linearalgebra::BaseVector *f) override

void	resetContactForce () override

Unbuilt constraint system during resolution
void	resetForUnbuiltResolution (SReal *f, std::list< unsigned int > &) override

bool	hasConstraintNumber (int index) override

void	addConstraintDisplacement (SReal *d, int begin, int end) override

void	setConstraintDForce (SReal *df, int begin, int end, bool update) override

void	getBlockDiagonalCompliance (linearalgebra::BaseMatrix *W, int begin, int end) override

Public Member Functions inherited from sofa::core::behavior::ConstraintCorrection< TDataTypes >
	SOFA_ABSTRACT_CLASS (SOFA_TEMPLATE(ConstraintCorrection, TDataTypes), BaseConstraintCorrection)

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

void	cleanup () override

void	addConstraintSolver (core::behavior::ConstraintSolver *s) override

void	removeConstraintSolver (core::behavior::ConstraintSolver *s) override

void	computeMotionCorrectionFromLambda (const core::ConstraintParams cparams, core::MultiVecDerivId dx, const linearalgebra::BaseVector lambda) override

void	applyMotionCorrection (const core::ConstraintParams *cparams, core::MultiVecCoordId x, core::MultiVecDerivId v, core::MultiVecDerivId dx, core::ConstMultiVecDerivId correction) override

void	applyPositionCorrection (const core::ConstraintParams *cparams, core::MultiVecCoordId x, core::MultiVecDerivId dx, core::ConstMultiVecDerivId correction) override

void	applyVelocityCorrection (const core::ConstraintParams *cparams, core::MultiVecDerivId v, core::MultiVecDerivId dv, core::ConstMultiVecDerivId correction) override

void	applyPredictiveConstraintForce (const core::ConstraintParams cparams, core::MultiVecDerivId f, const linearalgebra::BaseVector lambda) override

MechanicalState< DataTypes > *	getMState () const

void	setMState (MechanicalState< DataTypes > *_mstate)

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

virtual bool	isActive ()

virtual void	rebuildSystem (SReal, SReal)

virtual void	computeResidual (const core::ExecParams , linearalgebra::BaseVector )

virtual void	getComplianceWithConstraintMerge (linearalgebra::BaseMatrix *, std::vector< int > &)
	For multigrid approach => constraints are merged. 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)

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	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)

Static Public Member Functions
static std::map< std::string, InverseStorage > &	getInverseMap ()

static InverseStorage *	getInverse (std::string name)

static void	releaseInverse (std::string name, InverseStorage *inv)

Static Public Member Functions inherited from sofa::core::behavior::ConstraintCorrection< TDataTypes >
template<class T >
static bool	canCreate (T &obj, objectmodel::BaseContext context, objectmodel::BaseObjectDescription *arg)
	Pre-construction check method called by ObjectFactory. More...

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)

Protected Member Functions
	PrecomputedConstraintCorrection (sofa::core::behavior::MechanicalState< DataTypes > *mm=nullptr)

virtual	~PrecomputedConstraintCorrection ()

bool	loadCompliance (std::string fileName)
	Load compliance matrix from memory or external file according to fileName. More...

void	saveCompliance (const std::string &fileName)
	Save compliance matrix into a file. More...

std::string	buildFileName ()
	Builds the compliance file name using the SOFA component internal data. More...

void	computeDx (Data< VecDeriv > &dx, const Data< VecDeriv > &f, const std::list< int > &activeDofs)
	Compute dx correction from motion space force vector. More...

Protected Member Functions inherited from sofa::core::behavior::ConstraintCorrection< TDataTypes >
	ConstraintCorrection (MechanicalState< DataTypes > *ms=nullptr)
	Default Constructor. More...

	~ConstraintCorrection () override=default
	Default Destructor. More...

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

	~BaseConstraintCorrection () override

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...

Attribute details

◆ _indexNodeSparseCompliance

template<class TDataTypes >

type::vector<int> sofa::component::constraint::lagrangian::correction::PrecomputedConstraintCorrection< TDataTypes >::_indexNodeSparseCompliance

◆ _sparseCompliance

template<class TDataTypes >

type::vector<Deriv> sofa::component::constraint::lagrangian::correction::PrecomputedConstraintCorrection< TDataTypes >::_sparseCompliance

◆ active_local_force

template<class TDataTypes >

std::list<unsigned int> sofa::component::constraint::lagrangian::correction::PrecomputedConstraintCorrection< TDataTypes >::active_local_force

◆ appCompliance

template<class TDataTypes >

Real* sofa::component::constraint::lagrangian::correction::PrecomputedConstraintCorrection< TDataTypes >::appCompliance

◆ constraint_D

template<class TDataTypes >

VecDeriv sofa::component::constraint::lagrangian::correction::PrecomputedConstraintCorrection< TDataTypes >::constraint_D

◆ constraint_dofs

template<class TDataTypes >

std::list<int> sofa::component::constraint::lagrangian::correction::PrecomputedConstraintCorrection< TDataTypes >::constraint_dofs

◆ constraint_F

template<class TDataTypes >

VecDeriv sofa::component::constraint::lagrangian::correction::PrecomputedConstraintCorrection< TDataTypes >::constraint_F

◆ constraint_force

template<class TDataTypes >

SReal* sofa::component::constraint::lagrangian::correction::PrecomputedConstraintCorrection< TDataTypes >::constraint_force

◆ d_debugViewFrameScale

template<class TDataTypes >

Data<SReal> sofa::component::constraint::lagrangian::correction::PrecomputedConstraintCorrection< TDataTypes >::d_debugViewFrameScale

Scale on computed node's frame.

◆ d_fileCompliance

template<class TDataTypes >

sofa::core::objectmodel::DataFileName sofa::component::constraint::lagrangian::correction::PrecomputedConstraintCorrection< TDataTypes >::d_fileCompliance

Precomputed compliance matrix data file.

◆ d_fileDir

template<class TDataTypes >

Data<std::string> sofa::component::constraint::lagrangian::correction::PrecomputedConstraintCorrection< TDataTypes >::d_fileDir

If not empty, the compliance will be saved in this repertory.

◆ d_recompute

template<class TDataTypes >

Data<bool> sofa::component::constraint::lagrangian::correction::PrecomputedConstraintCorrection< TDataTypes >::d_recompute

if true, always recompute the compliance

◆ d_restRotations

template<class TDataTypes >

Data<bool> sofa::component::constraint::lagrangian::correction::PrecomputedConstraintCorrection< TDataTypes >::d_restRotations

◆ d_rotations

template<class TDataTypes >

Data<bool> sofa::component::constraint::lagrangian::correction::PrecomputedConstraintCorrection< TDataTypes >::d_rotations

◆ debugViewFrameScale

template<class TDataTypes >

sofa::core::objectmodel::RenamedData<SReal> sofa::component::constraint::lagrangian::correction::PrecomputedConstraintCorrection< TDataTypes >::debugViewFrameScale

◆ dimensionAppCompliance

template<class TDataTypes >

unsigned int sofa::component::constraint::lagrangian::correction::PrecomputedConstraintCorrection< TDataTypes >::dimensionAppCompliance

◆ dof_on_node

template<class TDataTypes >

unsigned int sofa::component::constraint::lagrangian::correction::PrecomputedConstraintCorrection< TDataTypes >::dof_on_node

◆ DXbuf

template<class TDataTypes >

Real sofa::component::constraint::lagrangian::correction::PrecomputedConstraintCorrection< TDataTypes >::DXbuf

◆ f_fileCompliance

template<class TDataTypes >

sofa::core::objectmodel::RenamedData<std::string> sofa::component::constraint::lagrangian::correction::PrecomputedConstraintCorrection< TDataTypes >::f_fileCompliance

◆ Fbuf

template<class TDataTypes >

Real sofa::component::constraint::lagrangian::correction::PrecomputedConstraintCorrection< TDataTypes >::Fbuf[6]

◆ fileDir

template<class TDataTypes >

sofa::core::objectmodel::RenamedData<std::string> sofa::component::constraint::lagrangian::correction::PrecomputedConstraintCorrection< TDataTypes >::fileDir

◆ id_to_localIndex

template<class TDataTypes >

type::vector<int> sofa::component::constraint::lagrangian::correction::PrecomputedConstraintCorrection< TDataTypes >::id_to_localIndex

◆ invM

template<class TDataTypes >

InverseStorage* sofa::component::constraint::lagrangian::correction::PrecomputedConstraintCorrection< TDataTypes >::invM

◆ invName

template<class TDataTypes >

std::string sofa::component::constraint::lagrangian::correction::PrecomputedConstraintCorrection< TDataTypes >::invName

◆ localIndex_to_id

template<class TDataTypes >

type::vector<unsigned int> sofa::component::constraint::lagrangian::correction::PrecomputedConstraintCorrection< TDataTypes >::localIndex_to_id

◆ localW

template<class TDataTypes >

linearalgebra::FullMatrix< Real > sofa::component::constraint::lagrangian::correction::PrecomputedConstraintCorrection< TDataTypes >::localW

◆ m_activeDofs

template<class TDataTypes >

std::list< int > sofa::component::constraint::lagrangian::correction::PrecomputedConstraintCorrection< TDataTypes >::m_activeDofs

protected

◆ m_restRotations

template<class TDataTypes >

sofa::core::objectmodel::RenamedData<bool> sofa::component::constraint::lagrangian::correction::PrecomputedConstraintCorrection< TDataTypes >::m_restRotations

◆ m_rotations

template<class TDataTypes >

sofa::core::objectmodel::RenamedData<bool> sofa::component::constraint::lagrangian::correction::PrecomputedConstraintCorrection< TDataTypes >::m_rotations

◆ nbCols

template<class TDataTypes >

unsigned int sofa::component::constraint::lagrangian::correction::PrecomputedConstraintCorrection< TDataTypes >::nbCols

◆ nbNodes

template<class TDataTypes >

unsigned int sofa::component::constraint::lagrangian::correction::PrecomputedConstraintCorrection< TDataTypes >::nbNodes

◆ nbRows

template<class TDataTypes >

unsigned int sofa::component::constraint::lagrangian::correction::PrecomputedConstraintCorrection< TDataTypes >::nbRows

◆ recompute

template<class TDataTypes >

sofa::core::objectmodel::RenamedData<bool> sofa::component::constraint::lagrangian::correction::PrecomputedConstraintCorrection< TDataTypes >::recompute

Constructor details

◆ PrecomputedConstraintCorrection()

template<class DataTypes >

sofa::component::constraint::lagrangian::correction::PrecomputedConstraintCorrection< DataTypes >::PrecomputedConstraintCorrection ( sofa::core::behavior::MechanicalState< DataTypes > * mm = nullptr )

protected

◆ ~PrecomputedConstraintCorrection()

template<class DataTypes >

sofa::component::constraint::lagrangian::correction::PrecomputedConstraintCorrection< DataTypes >::~PrecomputedConstraintCorrection

protectedvirtual

Function details

◆ addComplianceInConstraintSpace()

template<class DataTypes >

void sofa::component::constraint::lagrangian::correction::PrecomputedConstraintCorrection< DataTypes >::addComplianceInConstraintSpace	(	const sofa::core::ConstraintParams *	cparams,
		sofa::linearalgebra::BaseMatrix *	W
	)

overridevirtual

Implements sofa::core::behavior::BaseConstraintCorrection.

◆ addConstraintDisplacement()

template<class DataTypes >

void sofa::component::constraint::lagrangian::correction::PrecomputedConstraintCorrection< DataTypes >::addConstraintDisplacement	(	SReal *	d,
		int	begin,
		int	end
	)

overridevirtual

Reimplemented from sofa::core::behavior::BaseConstraintCorrection.

◆ applyContactForce()

template<class DataTypes >

void sofa::component::constraint::lagrangian::correction::PrecomputedConstraintCorrection< DataTypes >::applyContactForce ( const linearalgebra::BaseVector * f )

overridevirtual

Implements sofa::core::behavior::BaseConstraintCorrection.

◆ applyMotionCorrection()

template<class DataTypes >

void sofa::component::constraint::lagrangian::correction::PrecomputedConstraintCorrection< DataTypes >::applyMotionCorrection	(	const sofa::core::ConstraintParams *	cparams,
		sofa::Data< VecCoord > &	x,
		sofa::Data< VecDeriv > &	v,
		sofa::Data< VecDeriv > &	dx,
		const sofa::Data< VecDeriv > &	correction
	)

overridevirtual

Implements sofa::core::behavior::ConstraintCorrection< TDataTypes >.

◆ applyPositionCorrection()

template<class DataTypes >

void sofa::component::constraint::lagrangian::correction::PrecomputedConstraintCorrection< DataTypes >::applyPositionCorrection	(	const sofa::core::ConstraintParams *	cparams,
		sofa::Data< VecCoord > &	x,
		sofa::Data< VecDeriv > &	dx,
		const sofa::Data< VecDeriv > &	correction
	)

overridevirtual

Implements sofa::core::behavior::ConstraintCorrection< TDataTypes >.

◆ applyVelocityCorrection()

template<class DataTypes >

void sofa::component::constraint::lagrangian::correction::PrecomputedConstraintCorrection< DataTypes >::applyVelocityCorrection	(	const sofa::core::ConstraintParams *	cparams,
		sofa::Data< VecDeriv > &	v,
		sofa::Data< VecDeriv > &	dv,
		const sofa::Data< VecDeriv > &	correction
	)

overridevirtual

Implements sofa::core::behavior::ConstraintCorrection< TDataTypes >.

◆ buildFileName()

template<class DataTypes >

std::string sofa::component::constraint::lagrangian::correction::PrecomputedConstraintCorrection< DataTypes >::buildFileName

protected

Builds the compliance file name using the SOFA component internal data.

◆ bwdInit()

template<class DataTypes >

void sofa::component::constraint::lagrangian::correction::PrecomputedConstraintCorrection< DataTypes >::bwdInit

overridevirtual

Initialization method called at graph creation and modification, during bottom-up traversal.

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

◆ computeDx()

template<class DataTypes >

void sofa::component::constraint::lagrangian::correction::PrecomputedConstraintCorrection< DataTypes >::computeDx	(	Data< VecDeriv > &	dx,
		const Data< VecDeriv > &	f,
		const std::list< int > &	activeDofs
	)

protected

Compute dx correction from motion space force vector.

◆ computeMotionCorrection()

template<class DataTypes >

void sofa::component::constraint::lagrangian::correction::PrecomputedConstraintCorrection< DataTypes >::computeMotionCorrection	(	const core::ConstraintParams *	cparams,
		core::MultiVecDerivId	dx,
		core::MultiVecDerivId	f
	)

overridevirtual

Compute the corrective motion coming from the motion space force.

Parameters

cparams	the ConstraintParams relative to the constraint solver
dx	the VecId where to store the corrective motion
f	is the VecId where the motion space force : f = J^t x lambda

Implements sofa::core::behavior::ConstraintCorrection< TDataTypes >.

◆ draw() [1/5]

SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_CORRECTION_API void sofa::component::constraint::lagrangian::correction::PrecomputedConstraintCorrection< defaulttype::Vec1Types >::draw ( const core::visual::VisualParams * )

virtual