#include <BilateralInteractionConstraint.h>

Inheritance diagram for sofa::component::constraint::lagrangian::model::BilateralInteractionConstraint< DataTypes >:

[legend]

Protected Attributes
std::vector< Deriv >	dfree

Quat< SReal >	q

std::vector< unsigned int >	cid

DataSubsetIndices	m1
	index of the constraint on the first model More...

DataSubsetIndices	m2
	index of the constraint on the second model More...

Data< VecDeriv >	restVector
	Relative position to maintain between attached points (optional) More...

VecCoord	initialDifference

Data< double >	d_numericalTolerance
	a real value specifying the tolerance during the constraint solving. (default=0.0001 More...

Data< bool >	d_activate
	bool to control constraint activation More...

Data< bool >	keepOrientDiff
	keep the initial difference in orientation (only for rigids) More...

SingleLink< BilateralInteractionConstraint< DataTypes >, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH\|BaseLink::FLAG_STRONGLINK >	l_topology1
	Link to be set to the first topology container in order to support topological changes. More...

SingleLink< BilateralInteractionConstraint< DataTypes >, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH\|BaseLink::FLAG_STRONGLINK >	l_topology2
	Link to be set to the second topology container in order to support topological changes. More...

std::vector< Vec3d >	prevForces

sofa::core::objectmodel::lifecycle::RemovedData	activateAtIteration {this, "v22.12", "v23.06", "activateAtIteration", "use the boolean data 'activate' instead and an engine or a script to change the behavior at the right step (see PR #3327)."}

sofa::core::objectmodel::lifecycle::RemovedData	merge {this, "v22.12", "v23.06", "merge", "Its behavior was unused, undocumented, untested, and unclear (see PR #3328), please report to sofa-dev if you want the feature back."}

sofa::core::objectmodel::lifecycle::RemovedData	derivative {this, "v22.12", "v23.06", "derivative", "Its behavior was unused, undocumented, untested, and unclear (see PR #3328), please report to sofa-dev if you want the feature back."}

Protected Attributes inherited from sofa::core::behavior::BaseConstraintSet
Data< int >	group
	ID of the group containing this constraint. This ID is used to specify which constraints are solved by which solver, by specifying in each solver which groups of constraints it should handle. More...

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

LinkSlaves	l_slaves

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

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

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

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

VecLink	m_vecLink
	List of links. More...

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

Protected Attributes inherited from sofa::core::behavior::StateAccessor
MultiLink< StateAccessor, BaseMechanicalState, BaseLink::FLAG_DUPLICATE >	l_mechanicalStates

Protected Attributes inherited from sofa::core::behavior::PairStateAccessor< TDataTypes >
SingleLink< PairStateAccessor< TDataTypes, TDataTypes >, MechanicalState< TDataTypes >, BaseLink::FLAG_STOREPATH\|BaseLink::FLAG_STRONGLINK >	mstate1

SingleLink< PairStateAccessor< TDataTypes, TDataTypes >, MechanicalState< TDataTypes >, BaseLink::FLAG_STOREPATH\|BaseLink::FLAG_STRONGLINK >	mstate2

Public Member Functions
	SOFA_CLASS (SOFA_TEMPLATE(BilateralInteractionConstraint, DataTypes), SOFA_TEMPLATE(PairInteractionConstraint, DataTypes))

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

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

void	reinit () override
	Update method called when variables used in precomputation are modified. More...

void	buildConstraintMatrix (const ConstraintParams *cParams, DataMatrixDeriv &c1, DataMatrixDeriv &c2, unsigned int &cIndex, const DataVecCoord &x1, const DataVecCoord &x2) override

void	getConstraintViolation (const ConstraintParams cParams, BaseVector v, const DataVecCoord &x1, const DataVecCoord &x2, const DataVecDeriv &v1, const DataVecDeriv &v2) override

void	getVelocityViolation (BaseVector *v, const DataVecCoord &x1, const DataVecCoord &x2, const DataVecDeriv &v1, const DataVecDeriv &v2)

void	getConstraintResolution (const ConstraintParams cParams, std::vector< ConstraintResolution > &resTab, unsigned int &offset) override

void	handleEvent (sofa::core::objectmodel::Event *event) override
	Handle an event. More...

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

void	clear (int reserve=0)

virtual void	addContact (Deriv norm, Coord P, Coord Q, Real contactDistance, int m1, int m2, Coord Pfree, Coord Qfree, long id=0, PersistentID localid=0)

void	addContact (Deriv norm, Coord P, Coord Q, Real contactDistance, int m1, int m2, long id=0, PersistentID localid=0)

void	addContact (Deriv norm, Real contactDistance, int m1, int m2, long id=0, PersistentID localid=0)

void	removeContact (int objectId, SubsetIndices indices)
	Method to remove a contact using point. More...

virtual type::vector< std::string >	getBilateralInteractionIdentifiers ()

virtual type::vector< std::string >	getPairInteractionIdentifiers () override final

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

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

SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API void	getConstraintResolution (const ConstraintParams cParams, std::vector< ConstraintResolution > &resTab, unsigned int &offset)

SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API void	buildConstraintMatrix (const ConstraintParams *cParams, DataMatrixDeriv &c1_d, DataMatrixDeriv &c2_d, unsigned int &constraintId, const DataVecCoord &x1, const DataVecCoord &x2)

SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API void	getConstraintViolation (const ConstraintParams cParams, BaseVector v, const DataVecCoord &d_x1, const DataVecCoord &d_x2, const DataVecDeriv &v1, const DataVecDeriv &v2)

SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API void	getVelocityViolation (BaseVector *, const DataVecCoord &, const DataVecCoord &, const DataVecDeriv &, const DataVecDeriv &)

SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API void	addContact (Deriv norm, Coord P, Coord Q, Real contactDistance, int m1, int m2, Coord Pfree, Coord Qfree, long id, PersistentID localid)

Public Member Functions inherited from sofa::core::behavior::PairInteractionConstraint< TDataTypes >
	SOFA_ABSTRACT_CLASS2 (SOFA_TEMPLATE(PairInteractionConstraint, TDataTypes), BaseInteractionConstraint, SOFA_TEMPLATE2(PairStateAccessor, TDataTypes, TDataTypes))

virtual bool	isActive () const
	if false, the constraint does nothing More...

void	getConstraintViolation (const ConstraintParams cParams, linearalgebra::BaseVector v) override

void	buildConstraintMatrix (const ConstraintParams *cParams, MultiMatrixDerivId cId, unsigned int &cIndex) override

void	storeLambda (const ConstraintParams cParams, MultiVecDerivId res, const sofa::linearalgebra::BaseVector lambda) override

virtual void	getConstraintViolation (const ConstraintParams cParams, linearalgebra::BaseVector v)

virtual void	getConstraintViolation (const ConstraintParams , linearalgebra::BaseVector , unsigned int)

Public Member Functions inherited from sofa::core::behavior::BaseInteractionConstraint
	SOFA_ABSTRACT_CLASS2 (BaseInteractionConstraint, BaseConstraint, StateAccessor)

virtual BaseMechanicalState *	getMechModel1 ()

virtual BaseMechanicalState *	getMechModel2 ()

virtual type::vector< std::string >	getBaseConstraintIdentifiers () override final

Public Member Functions inherited from sofa::core::behavior::BaseConstraint
	SOFA_ABSTRACT_CLASS (BaseConstraint, BaseConstraintSet)

int	getGroup () const
	Get the ID of the group containing this constraint. This ID is used to specify which constraints are solved by which solver, by specifying in each solver which groups of constraints it should handle. More...

void	setGroup (int g)
	Set the ID of the group containing this constraint. This ID is used to specify which constraints are solved by which solver, by specifying in each solver which groups of constraints it should handle. More...

virtual void	getConstraintInfo (const ConstraintParams *cParams, VecConstraintBlockInfo &blocks, VecPersistentID &ids, VecConstCoord &positions, VecConstDeriv &directions, VecConstArea &areas)

virtual void	getConstraintResolution (std::vector< ConstraintResolution * > &resTab, unsigned int &offset)

type::vector< std::string >	getIdentifiers ()

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

virtual void	resetConstraint ()

virtual void	setConstraintId (unsigned cId)

virtual void	processGeometricalData ()

virtual void	getConstraintViolation (const ConstraintParams , linearalgebra::BaseVector , unsigned int)

bool	insertInNode (objectmodel::BaseNode *node) override

bool	removeInNode (objectmodel::BaseNode *node) override

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

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

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

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

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

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

const BaseContext *	getContext () const

BaseContext *	getContext ()

const BaseObject *	getMaster () const

BaseObject *	getMaster ()

const VecSlaves &	getSlaves () const

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

virtual void	addSlave (BaseObject::SPtr s)

virtual void	removeSlave (BaseObject::SPtr s)

virtual void	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...

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...

virtual void	cleanup ()

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

void	addDeprecatedAttribute (lifecycle::DeprecatedData *attribute)

void	addUpdateCallback (const std::string &name, std::initializer_list< BaseData * > inputs, std::function< sofa::core::objectmodel::ComponentState(const DataTracker &)> function, std::initializer_list< BaseData * > outputs)

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

const std::string &	getName () const
	Accessor to the object name. More...

void	setName (const std::string &n)
	Set the name of this object. More...

void	setName (const std::string &n, int counter)
	Set the name of this object, adding an integer counter. More...

std::string	getTypeName () const
	Get the type name of this object (i.e. class and template types) More...

virtual std::string	getClassName () const
	Get the class name of this object. More...

virtual std::string	getTemplateName () const final
	Get the template type names (if any) used to instantiate this object. More...

std::string	getNameSpaceName () const
	Get the template type names (if any) used to instantiate this object. More...

void	setDefinitionSourceFileName (const std::string &sourceFileName)
	Set the source filename (where the component is implemented) More...

const std::string &	getDefinitionSourceFileName () const
	Get the source filename (where the component is implemented) More...

void	setDefinitionSourceFilePos (const int)
	Set the source location (where the component is implemented) More...

int	getDefinitionSourceFilePos () const
	Get the source location (where the component is implemented) More...

void	setInstanciationSourceFileName (const std::string &sourceFileName)

const std::string &	getInstanciationSourceFileName () const

void	setInstanciationSourceFilePos (const int)

int	getInstanciationSourceFilePos () const

void	addMessage (const sofa::helper::logging::Message &m) const

size_t	countLoggedMessages (sofa::helper::logging::Message::TypeSet t=sofa::helper::logging::Message::AnyTypes) const

const std::deque< sofa::helper::logging::Message > &	getLoggedMessages () const

const std::string	getLoggedMessagesAsString (sofa::helper::logging::Message::TypeSet t=sofa::helper::logging::Message::AnyTypes) const

void	clearLoggedMessages () const

bool	notMuted () const

const sofa::core::objectmodel::TagSet &	getTags () const
	Represents the subsets the object belongs to. More...

bool	hasTag (Tag t) const
	Return true if the object belong to the given subset. More...

void	addTag (Tag t)
	Add a subset qualification to the object. More...

void	removeTag (Tag t)
	Remove a subset qualification to the object. More...

ComponentState	getComponentState () const

bool	isComponentStateValid () const

virtual bool	parseField (const std::string &attribute, const std::string &value)
	Assign one field value (Data or Link) More...

virtual bool	hasField (const std::string &attribute) const
	Check if a given Data field or Link exists. More...

void	parseFields (const std::list< std::string > &str)
	Assign the field values stored in the given list of name + value pairs of strings. More...

virtual void	parseFields (const std::map< std::string, std::string * > &str)
	Assign the field values stored in the given map of name -> value pairs. More...

void	writeDatas (std::map< std::string, std::string * > &str)
	Write the current field values to the given map of name -> value pairs. More...

void	writeDatas (std::ostream &out, const std::string &separator=" ")

BaseData *	findData (const std::string &name) const

std::vector< BaseData * >	findGlobalField (const std::string &name) const
	Find data fields given a name: several can be found as we look into the alias map. More...

BaseLink *	findLink (const std::string &name) const

std::vector< BaseLink * >	findLinks (const std::string &name) const
	Find link fields given a name: several can be found as we look into the alias map. More...

virtual void	updateLinks (bool logErrors=true)
	Update pointers in case the pointed-to objects have appeared. More...

template<class T >
BaseData::BaseInitData	initData (::sofa::core::objectmodel::Data< T > field, const char name, const char *help, ::sofa::core::objectmodel::BaseData::DataFlags dataflags)
	Helper method used to initialize a data field containing a value of type T. More...

template<class T >
BaseData::BaseInitData	initData (Data< T > field, const char name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
	Helper method used to initialize a data field containing a value of type T. More...

template<class T >
Data< T >::InitData	initData (Data< T > field, const T &value, const char name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
	Helper method used to initialize a data field containing a value of type T. More...

void	addData (BaseData *f, const std::string &name)

void	addData (BaseData *f)

void	removeData (BaseData *f)
	Remove a data field. More...

void	addAlias (BaseData field, const char alias)
	Add an alias to a Data. More...

void	addLink (BaseLink *l)
	Add a link. More...

void	addAlias (BaseLink link, const char alias)
	Add an alias to a Link. More...

const VecData &	getDataFields () const
	Accessor to the vector containing all the fields of this object. More...

const MapData &	getDataAliases () const
	Accessor to the map containing all the aliases of this object. More...

const VecLink &	getLinks () const
	Accessor to the vector containing all the fields of this object. More...

const MapLink &	getLinkAliases () const
	Accessor to the map containing all the aliases of this object. More...

virtual bool	findDataLinkDest (BaseData &ptr, const std::string &path, const BaseLink link)

template<class T >
bool	findLinkDest (T &ptr, const std::string &path, const BaseLink link)

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

virtual const MultiLink< StateAccessor, BaseMechanicalState, BaseLink::FLAG_DUPLICATE >::Container &	getMechanicalStates () const
	Return a list of mechanical states to which this component is associated. More...

void	computeBBox (const core::ExecParams *params, bool onlyVisible=false) override

Public Member Functions inherited from sofa::core::behavior::PairStateAccessor< TDataTypes >
	SOFA_ABSTRACT_CLASS (SOFA_TEMPLATE2(PairStateAccessor, TDataTypes, TDataTypes), StateAccessor)

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

MechanicalState< TDataTypes > *	getMState1 ()
	Retrieve the associated MechanicalState #1. More...

const MechanicalState< TDataTypes > *	getMState1 () const
	Retrieve the associated MechanicalState #1. More...

BaseMechanicalState *	getMechModel1 ()
	Retrieve the associated MechanicalState #1 as a BaseMechanicalState. More...

const BaseMechanicalState *	getMechModel1 () const
	Retrieve the associated MechanicalState #1 as a BaseMechanicalState. More...

MechanicalState< TDataTypes > *	getMState2 ()
	Retrieve the associated MechanicalState #2. More...

const MechanicalState< TDataTypes > *	getMState2 () const
	Retrieve the associated MechanicalState #2. More...

BaseMechanicalState *	getMechModel2 ()
	Retrieve the associated MechanicalState #2 as a BaseMechanicalState. More...

const BaseMechanicalState *	getMechModel2 () const
	Retrieve the associated MechanicalState #2 as a BaseMechanicalState. More...

Protected Member Functions
	BilateralInteractionConstraint (MechanicalState object1, MechanicalState object2)

	BilateralInteractionConstraint (MechanicalState *object)

	BilateralInteractionConstraint ()

virtual	~BilateralInteractionConstraint ()

Protected Member Functions inherited from sofa::core::behavior::PairInteractionConstraint< TDataTypes >
	PairInteractionConstraint (MechanicalState< DataTypes > mm1=nullptr, MechanicalState< DataTypes > mm2=nullptr)

	~PairInteractionConstraint () override

virtual type::vector< std::string >	getInteractionIdentifiers () override final

void	storeLambda (const ConstraintParams cParams, Data< VecDeriv > &res1, Data< VecDeriv > &res2, const Data< MatrixDeriv > &j1, const Data< MatrixDeriv > &j2, const sofa::linearalgebra::BaseVector lambda)

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

	~BaseInteractionConstraint () override

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

	~BaseConstraint () override

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

	~BaseConstraintSet () 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...

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

	~StateAccessor () override=default

Protected Member Functions inherited from sofa::core::behavior::PairStateAccessor< TDataTypes >
	PairStateAccessor (MechanicalState< TDataTypes > mm1, MechanicalState< TDataTypes > mm2)

	~PairStateAccessor () override=default

Friends
template<typename >
class	BilateralInteractionConstraintSpecialization
	That any templates variation of BilateralInteractionConstraintSpecialization are friend. More...

Additional Inherited Members
Public Attributes inherited from sofa::core::behavior::PairInteractionConstraint< TDataTypes >
Data< SReal >	endTime
	Time when the constraint becomes inactive (-1 for infinitely active) More...

Public Attributes inherited from sofa::core::behavior::BaseConstraintSet
Data< unsigned int >	m_constraintIndex
	Constraint index (first index in the right hand term resolution vector) More...

unsigned	m_cId

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 Public Member Functions inherited from sofa::core::behavior::PairInteractionConstraint< TDataTypes >
template<class T >
static bool	canCreate (T &obj, objectmodel::BaseContext context, objectmodel::BaseObjectDescription *arg)

template<class T >
static T::SPtr	create (T p0, core::objectmodel::BaseContext context, core::objectmodel::BaseObjectDescription *arg)
	Construction 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)

Attribute details

◆ activateAtIteration

template<class DataTypes >

sofa::core::objectmodel::lifecycle::RemovedData sofa::component::constraint::lagrangian::model::BilateralInteractionConstraint< DataTypes >::activateAtIteration {this, "v22.12", "v23.06", "activateAtIteration", "use the boolean data 'activate' instead and an engine or a script to change the behavior at the right step (see PR #3327)."}

protected

◆ cid

template<class DataTypes >

std::vector<unsigned int> sofa::component::constraint::lagrangian::model::BilateralInteractionConstraint< DataTypes >::cid

protected

◆ d_activate

template<class DataTypes >

Data<bool> sofa::component::constraint::lagrangian::model::BilateralInteractionConstraint< DataTypes >::d_activate

protected

bool to control constraint activation

◆ d_numericalTolerance

template<class DataTypes >

Data<double> sofa::component::constraint::lagrangian::model::BilateralInteractionConstraint< DataTypes >::d_numericalTolerance

protected

a real value specifying the tolerance during the constraint solving. (default=0.0001

◆ derivative

template<class DataTypes >

sofa::core::objectmodel::lifecycle::RemovedData sofa::component::constraint::lagrangian::model::BilateralInteractionConstraint< DataTypes >::derivative {this, "v22.12", "v23.06", "derivative", "Its behavior was unused, undocumented, untested, and unclear (see PR #3328), please report to sofa-dev if you want the feature back."}

protected

◆ dfree

template<class DataTypes >

std::vector<Deriv> sofa::component::constraint::lagrangian::model::BilateralInteractionConstraint< DataTypes >::dfree

protected

◆ initialDifference

template<class DataTypes >

VecCoord sofa::component::constraint::lagrangian::model::BilateralInteractionConstraint< DataTypes >::initialDifference

protected

◆ keepOrientDiff

template<class DataTypes >

Data<bool> sofa::component::constraint::lagrangian::model::BilateralInteractionConstraint< DataTypes >::keepOrientDiff

protected

keep the initial difference in orientation (only for rigids)

◆ l_topology1

template<class DataTypes >

SingleLink<BilateralInteractionConstraint<DataTypes>, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> sofa::component::constraint::lagrangian::model::BilateralInteractionConstraint< DataTypes >::l_topology1

protected

Link to be set to the first topology container in order to support topological changes.

◆ l_topology2

template<class DataTypes >

SingleLink<BilateralInteractionConstraint<DataTypes>, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> sofa::component::constraint::lagrangian::model::BilateralInteractionConstraint< DataTypes >::l_topology2

protected

Link to be set to the second topology container in order to support topological changes.

◆ m1

template<class DataTypes >

DataSubsetIndices sofa::component::constraint::lagrangian::model::BilateralInteractionConstraint< DataTypes >::m1

protected

index of the constraint on the first model

◆ m2

template<class DataTypes >

DataSubsetIndices sofa::component::constraint::lagrangian::model::BilateralInteractionConstraint< DataTypes >::m2

protected

index of the constraint on the second model

◆ merge

template<class DataTypes >

sofa::core::objectmodel::lifecycle::RemovedData sofa::component::constraint::lagrangian::model::BilateralInteractionConstraint< DataTypes >::merge {this, "v22.12", "v23.06", "merge", "Its behavior was unused, undocumented, untested, and unclear (see PR #3328), please report to sofa-dev if you want the feature back."}

protected

◆ prevForces

template<class DataTypes >

std::vector<Vec3d> sofa::component::constraint::lagrangian::model::BilateralInteractionConstraint< DataTypes >::prevForces

protected

◆ q

template<class DataTypes >

Quat<SReal> sofa::component::constraint::lagrangian::model::BilateralInteractionConstraint< DataTypes >::q

protected

◆ restVector

template<class DataTypes >

Data<VecDeriv> sofa::component::constraint::lagrangian::model::BilateralInteractionConstraint< DataTypes >::restVector

protected

Relative position to maintain between attached points (optional)

Constructor details

◆ BilateralInteractionConstraint() [1/3]

template<class DataTypes >

sofa::component::constraint::lagrangian::model::BilateralInteractionConstraint< DataTypes >::BilateralInteractionConstraint	(	MechanicalState *	object1,
		MechanicalState *	object2
	)

protected

◆ BilateralInteractionConstraint() [2/3]

template<class DataTypes >

sofa::component::constraint::lagrangian::model::BilateralInteractionConstraint< DataTypes >::BilateralInteractionConstraint ( MechanicalState * object )

protected

◆ BilateralInteractionConstraint() [3/3]

template<class DataTypes >

sofa::component::constraint::lagrangian::model::BilateralInteractionConstraint< DataTypes >::BilateralInteractionConstraint

protected

◆ ~BilateralInteractionConstraint()

template<class DataTypes >

virtual sofa::component::constraint::lagrangian::model::BilateralInteractionConstraint< DataTypes >::~BilateralInteractionConstraint ( )

inlineprotectedvirtual

Function details

◆ addContact() [1/4]

SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API void sofa::component::constraint::lagrangian::model::BilateralInteractionConstraint< defaulttype::Rigid3Types >::addContact	(	Deriv	norm,
		Coord	P,
		Coord	Q,
		Real	contactDistance,
		int	m1,
		int	m2,
		Coord	Pfree,
		Coord	Qfree,
		long	id,
		PersistentID	localid
	)

◆ addContact() [2/4]

template<class DataTypes >

void sofa::component::constraint::lagrangian::model::BilateralInteractionConstraint< DataTypes >::addContact	(	Deriv	norm,
		Coord	P,
		Coord	Q,
		Real	contactDistance,
		int	m1,
		int	m2,
		Coord	Pfree,
		Coord	Qfree,
		long	id = `0`,
		PersistentID	localid = `0`
	)

virtual

◆ addContact() [3/4]

template<class DataTypes >

void sofa::component::constraint::lagrangian::model::BilateralInteractionConstraint< DataTypes >::addContact	(	Deriv	norm,
		Coord	P,
		Coord	Q,
		Real	contactDistance,
		int	m1,
		int	m2,
		long	id = `0`,
		PersistentID	localid = `0`
	)

◆ addContact() [4/4]

template<class DataTypes >

void sofa::component::constraint::lagrangian::model::BilateralInteractionConstraint< DataTypes >::addContact	(	Deriv	norm,
		Real	contactDistance,
		int	m1,
		int	m2,
		long	id = `0`,
		PersistentID	localid = `0`
	)

◆ buildConstraintMatrix() [1/2]

template<class DataTypes >

void sofa::component::constraint::lagrangian::model::BilateralInteractionConstraint< DataTypes >::buildConstraintMatrix	(	const ConstraintParams *	cParams,
		DataMatrixDeriv &	c1,
		DataMatrixDeriv &	c2,
		unsigned int &	cIndex,
		const DataVecCoord &	x1,
		const DataVecCoord &	x2
	)

overridevirtual

Construct the Jacobian Matrix

Parameters

c1	and c2 are the results constraint sparse matrix
cIndex	is the index of the next constraint equation: when building the constraint matrix, you have to use this index, and then update it
x1	and x2 are the position vectors used for contraint equation computation
cParams	defines the state vectors to use for positions and velocities. Also defines the order of the constraint (POS, VEL, ACC)

This is the method that should be implemented by the component

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

◆ buildConstraintMatrix() [2/2]

SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API void sofa::component::constraint::lagrangian::model::BilateralInteractionConstraint< Rigid3Types >::buildConstraintMatrix	(	const ConstraintParams *	cParams,
		DataMatrixDeriv &	c1,
		DataMatrixDeriv &	c2,
		unsigned int &	cIndex,
		const DataVecCoord &	x1,
		const DataVecCoord &	x2
	)

virtual

Construct the Jacobian Matrix

Parameters

c1	and c2 are the results constraint sparse matrix
cIndex	is the index of the next constraint equation: when building the constraint matrix, you have to use this index, and then update it
x1	and x2 are the position vectors used for contraint equation computation
cParams	defines the state vectors to use for positions and velocities. Also defines the order of the constraint (POS, VEL, ACC)

This is the method that should be implemented by the component

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

◆ bwdInit() [1/2]

SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API void sofa::component::constraint::lagrangian::model::BilateralInteractionConstraint< Rigid3Types >::bwdInit ( )

virtual

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

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

◆ bwdInit() [2/2]

template<class DataTypes >

void sofa::component::constraint::lagrangian::model::BilateralInteractionConstraint< DataTypes >::bwdInit ( )

inlineoverridevirtual

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

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

◆ clear()

template<class DataTypes >

void sofa::component::constraint::lagrangian::model::BilateralInteractionConstraint< DataTypes >::clear ( int reserve = 0 )

◆ draw()

template<class DataTypes >

void sofa::component::constraint::lagrangian::model::BilateralInteractionConstraint< DataTypes >::draw ( const core::visual::VisualParams * )

overridevirtual

Render internal data of this object, for debugging purposes.

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

◆ getBilateralInteractionIdentifiers()

template<class DataTypes >

virtual type::vector<std::string> sofa::component::constraint::lagrangian::model::BilateralInteractionConstraint< DataTypes >::getBilateralInteractionIdentifiers ( )

inlinevirtual

◆ getConstraintResolution() [1/2]

SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API void sofa::component::constraint::lagrangian::model::BilateralInteractionConstraint< Rigid3Types >::getConstraintResolution	(	const ConstraintParams *	cParams,
		std::vector< ConstraintResolution * > &	resTab,
		unsigned int &	offset
	)

virtual

Add the corresponding ConstraintResolution using the offset parameter

Parameters

cParams	defines the state vectors to use for positions and velocities. Also defines the order of the constraint (POS, VEL, ACC) and resolution parameters (smoothness, ...)
resTab	is the result vector that contains the contraint resolution algorithms

Reimplemented from sofa::core::behavior::BaseConstraint.

◆ getConstraintResolution() [2/2]

template<class DataTypes >

void sofa::component::constraint::lagrangian::model::BilateralInteractionConstraint< DataTypes >::getConstraintResolution	(	const ConstraintParams *	cParams,
		std::vector< ConstraintResolution * > &	resTab,
		unsigned int &	offset
	)

overridevirtual

Add the corresponding ConstraintResolution using the offset parameter

Parameters

cParams	defines the state vectors to use for positions and velocities. Also defines the order of the constraint (POS, VEL, ACC) and resolution parameters (smoothness, ...)
resTab	is the result vector that contains the contraint resolution algorithms

Reimplemented from sofa::core::behavior::BaseConstraint.

◆ getConstraintViolation() [1/2]

SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API void sofa::component::constraint::lagrangian::model::BilateralInteractionConstraint< Rigid3Types >::getConstraintViolation	(	const ConstraintParams *	cParams,
		BaseVector *	v,
		const DataVecCoord &	x1,
		const DataVecCoord &	x2,
		const DataVecDeriv &	v1,
		const DataVecDeriv &	v2
	)

virtual

Construct the Constraint violations vector of each constraint

Parameters

v	is the result vector that contains the whole constraints violations
x1	and x2 are the position vectors used to compute contraint position violation
v1	and v2 are the velocity vectors used to compute contraint velocity violation
cParams	defines the state vectors to use for positions and velocities. Also defines the order of the constraint (POS, VEL, ACC)

This is the method that should be implemented by the component

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

◆ getConstraintViolation() [2/2]

template<class DataTypes >

void sofa::component::constraint::lagrangian::model::BilateralInteractionConstraint< DataTypes >::getConstraintViolation	(	const ConstraintParams *	cParams,
		BaseVector *	v,
		const DataVecCoord &	x1,
		const DataVecCoord &	x2,
		const DataVecDeriv &	v1,
		const DataVecDeriv &	v2
	)

overridevirtual

Construct the Constraint violations vector of each constraint

Parameters

v	is the result vector that contains the whole constraints violations
x1	and x2 are the position vectors used to compute contraint position violation
v1	and v2 are the velocity vectors used to compute contraint velocity violation
cParams	defines the state vectors to use for positions and velocities. Also defines the order of the constraint (POS, VEL, ACC)

This is the method that should be implemented by the component

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

◆ getPairInteractionIdentifiers()

template<class DataTypes >

virtual type::vector<std::string> sofa::component::constraint::lagrangian::model::BilateralInteractionConstraint< DataTypes >::getPairInteractionIdentifiers ( )

inlinefinaloverridevirtual

Reimplemented from sofa::core::behavior::PairInteractionConstraint< TDataTypes >.

◆ getVelocityViolation() [1/2]

SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API void sofa::component::constraint::lagrangian::model::BilateralInteractionConstraint< Rigid3Types >::getVelocityViolation	(	BaseVector *	,
		const DataVecCoord &	,
		const DataVecCoord &	,
		const DataVecDeriv &	,
		const DataVecDeriv &
	)

◆ getVelocityViolation() [2/2]

template<class DataTypes >

void sofa::component::constraint::lagrangian::model::BilateralInteractionConstraint< DataTypes >::getVelocityViolation	(	BaseVector *	v,
		const DataVecCoord &	x1,
		const DataVecCoord &	x2,
		const DataVecDeriv &	v1,
		const DataVecDeriv &	v2
	)

◆ handleEvent()

template<class DataTypes >

void sofa::component::constraint::lagrangian::model::BilateralInteractionConstraint< DataTypes >::handleEvent ( sofa::core::objectmodel::Event * )

overridevirtual

Handle an event.

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

◆ init() [1/2]

SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_MODEL_API void sofa::component::constraint::lagrangian::model::BilateralInteractionConstraint< Rigid3Types >::init ( )

virtual

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

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

◆ init() [2/2]

template<class DataTypes >

void sofa::component::constraint::lagrangian::model::BilateralInteractionConstraint< DataTypes >::init

overridevirtual

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

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

◆ reinit()

template<class DataTypes >

void sofa::component::constraint::lagrangian::model::BilateralInteractionConstraint< DataTypes >::reinit

overridevirtual

Update method called when variables used in precomputation are modified.

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

◆ removeContact()

template<class DataTypes >

void sofa::component::constraint::lagrangian::model::BilateralInteractionConstraint< DataTypes >::removeContact	(	int	objectId,
		SubsetIndices	indices
	)

Method to remove a contact using point.

Parameters

indices and id of buffer:

See also: m1 (resp.; 2m) if

Parameters

objectId is equal to 0 (resp. to 1)

◆ SOFA_CLASS()

template<class DataTypes >

sofa::component::constraint::lagrangian::model::BilateralInteractionConstraint< DataTypes >::SOFA_CLASS	(	SOFA_TEMPLATE(BilateralInteractionConstraint< DataTypes >, DataTypes)	,
		SOFA_TEMPLATE(PairInteractionConstraint, DataTypes)
	)

Related details

◆ BilateralInteractionConstraintSpecialization

template<class DataTypes >

template<typename >

friend class BilateralInteractionConstraintSpecialization

friend

That any templates variation of BilateralInteractionConstraintSpecialization are friend.

Protected Attributes

Public Member Functions

Protected Member Functions

Friends

Additional Inherited Members

Attribute details

◆ activateAtIteration

◆ cid

◆ d_activate

◆ d_numericalTolerance

◆ derivative

◆ dfree

◆ initialDifference

◆ keepOrientDiff

◆ l_topology1

◆ l_topology2

◆ m1

◆ m2

◆ merge

◆ prevForces

◆ q

◆ restVector

Constructor details

◆ BilateralInteractionConstraint() [1/3]

◆ BilateralInteractionConstraint() [2/3]

◆ BilateralInteractionConstraint() [3/3]

◆ ~BilateralInteractionConstraint()

Function details

◆ addContact() [1/4]

◆ addContact() [2/4]

◆ addContact() [3/4]

◆ addContact() [4/4]

◆ buildConstraintMatrix() [1/2]

◆ buildConstraintMatrix() [2/2]

◆ bwdInit() [1/2]

◆ bwdInit() [2/2]

◆ clear()

◆ draw()

◆ getBilateralInteractionIdentifiers()

◆ getConstraintResolution() [1/2]

◆ getConstraintResolution() [2/2]

◆ getConstraintViolation() [1/2]

◆ getConstraintViolation() [2/2]

◆ getPairInteractionIdentifiers()

◆ getVelocityViolation() [1/2]

◆ getVelocityViolation() [2/2]

◆ handleEvent()

◆ init() [1/2]

◆ init() [2/2]

◆ reinit()

◆ removeContact()

◆ SOFA_CLASS()

Related details

◆ BilateralInteractionConstraintSpecialization