sofa::component::constraint::lagrangian::model::BilateralLagrangianConstraintSpecialization< RigidImpl > Class Reference

Static Public Member Functions
template<class T >
static void	bwdInit (BilateralLagrangianConstraint< T > &self)
template<class T >
static void	getConstraintResolution (BilateralLagrangianConstraint< T > &self, const ConstraintParams *cParams, std::vector< ConstraintResolution * > &resTab, unsigned int &offset, double tolerance)
template<class T >
static void	buildConstraintMatrix (BilateralLagrangianConstraint< T > &self, const ConstraintParams *cParams, typename BilateralLagrangianConstraint< T >::DataMatrixDeriv &c1_d, typename BilateralLagrangianConstraint< T >::DataMatrixDeriv &c2_d, unsigned int &constraintId, const typename BilateralLagrangianConstraint< T >::DataVecCoord &, const typename BilateralLagrangianConstraint< T >::DataVecCoord &)
template<class T >
static void	getConstraintViolation (BilateralLagrangianConstraint< T > &self, const ConstraintParams *, BaseVector *v, const typename BilateralLagrangianConstraint< T >::DataVecCoord &d_x1, const typename BilateralLagrangianConstraint< T >::DataVecCoord &d_x2, const typename BilateralLagrangianConstraint< T >::DataVecDeriv &, const typename BilateralLagrangianConstraint< T >::DataVecDeriv &)
template<class T , typename MyClass = BilateralLagrangianConstraint<T>>
static void	addContact (BilateralLagrangianConstraint< T > &self, typename MyClass::Deriv, typename MyClass::Coord P, typename MyClass::Coord Q, typename MyClass::Real, int m1, int m2, typename MyClass::Coord, typename MyClass::Coord, long, typename MyClass::PersistentID)

Function details

addContact()

template<class T , typename MyClass = BilateralLagrangianConstraint<T>>

static void sofa::component::constraint::lagrangian::model::BilateralLagrangianConstraintSpecialization< RigidImpl >::addContact ( BilateralLagrangianConstraint< T > &  self, typename MyClass::Deriv  , typename MyClass::Coord  P, typename MyClass::Coord  Q, typename MyClass::Real  , int  m1, int  m2, typename MyClass::Coord  , typename MyClass::Coord  , long  , typename MyClass::PersistentID    )

inlinestatic

buildConstraintMatrix()

template<class T >

static void sofa::component::constraint::lagrangian::model::BilateralLagrangianConstraintSpecialization< RigidImpl >::buildConstraintMatrix ( BilateralLagrangianConstraint< T > &  self, const ConstraintParams *  cParams, typename BilateralLagrangianConstraint< T >::DataMatrixDeriv &  c1_d, typename BilateralLagrangianConstraint< T >::DataMatrixDeriv &  c2_d, unsigned int &  constraintId, const typename BilateralLagrangianConstraint< T >::DataVecCoord &  , const typename BilateralLagrangianConstraint< T >::DataVecCoord &    )

inlinestatic

bwdInit()

template<class T >

static void sofa::component::constraint::lagrangian::model::BilateralLagrangianConstraintSpecialization< RigidImpl >::bwdInit ( BilateralLagrangianConstraint< T > &  self )

inlinestatic

getConstraintResolution()

template<class T >

static void sofa::component::constraint::lagrangian::model::BilateralLagrangianConstraintSpecialization< RigidImpl >::getConstraintResolution ( BilateralLagrangianConstraint< T > &  self, const ConstraintParams *  cParams, std::vector< ConstraintResolution * > &  resTab, unsigned int &  offset, double  tolerance  )

inlinestatic

getConstraintViolation()

template<class T >

static void sofa::component::constraint::lagrangian::model::BilateralLagrangianConstraintSpecialization< RigidImpl >::getConstraintViolation ( BilateralLagrangianConstraint< T > &  self, const ConstraintParams *  , BaseVector *  v, const typename BilateralLagrangianConstraint< T >::DataVecCoord &  d_x1, const typename BilateralLagrangianConstraint< T >::DataVecCoord &  d_x2, const typename BilateralLagrangianConstraint< T >::DataVecDeriv &  , const typename BilateralLagrangianConstraint< T >::DataVecDeriv &    )

inlinestatic