sofa::component::constraint::lagrangian::model::UnilateralConstraintResolutionWithFriction Class Reference

#include <UnilateralConstraintResolution.h>

Inheritance diagram for sofa::component::constraint::lagrangian::model::UnilateralConstraintResolutionWithFriction:

Protected Attributes
SReal	_mu
SReal	_W [6]
PreviousForcesContainer *	_prev
bool *	_active

Public Member Functions
	UnilateralConstraintResolutionWithFriction (SReal mu, PreviousForcesContainer *prev=nullptr, bool *active=nullptr)
void	init (int line, SReal **w, SReal *force) override
	The resolution object can do precomputation with the compliance matrix, and give an initial guess. More...
void	resolution (int line, SReal **w, SReal *d, SReal *force, SReal *dFree) override
	Resolution of the constraint for one Gauss-Seidel iteration. More...
void	store (int line, SReal *force, bool) override
	Called after Gauss-Seidel last iteration, in order to store last computed forces for the inital guess. More...
Public Member Functions inherited from sofa::core::behavior::ConstraintResolution
	ConstraintResolution (unsigned int nbLines, SReal tolerance=0.0)
virtual	~ConstraintResolution ()
virtual void	initForce (int, SReal *)
	The resolution object can provide an initial guess. More...
void	setNbLines (unsigned int nbLines)
unsigned int	getNbLines () const
void	setTolerance (SReal tolerance)
SReal	getTolerance () const

Attribute details

_active

bool* sofa::component::constraint::lagrangian::model::UnilateralConstraintResolutionWithFriction::_active

protected

_mu

SReal sofa::component::constraint::lagrangian::model::UnilateralConstraintResolutionWithFriction::_mu

protected

_prev

PreviousForcesContainer* sofa::component::constraint::lagrangian::model::UnilateralConstraintResolutionWithFriction::_prev

protected

_W

SReal sofa::component::constraint::lagrangian::model::UnilateralConstraintResolutionWithFriction::_W[6]

protected

Constructor details

UnilateralConstraintResolutionWithFriction()

sofa::component::constraint::lagrangian::model::UnilateralConstraintResolutionWithFriction::UnilateralConstraintResolutionWithFriction ( SReal  mu, PreviousForcesContainer *  prev = nullptr, bool *  active = nullptr  )

inline

Function details

init()

void sofa::component::constraint::lagrangian::model::UnilateralConstraintResolutionWithFriction::init ( int  , SReal **  , SReal *    )

overridevirtual

The resolution object can do precomputation with the compliance matrix, and give an initial guess.

Reimplemented from sofa::core::behavior::ConstraintResolution.

resolution()

void sofa::component::constraint::lagrangian::model::UnilateralConstraintResolutionWithFriction::resolution ( int  line, SReal **  w, SReal *  d, SReal *  force, SReal *  dFree  )

overridevirtual

Resolution of the constraint for one Gauss-Seidel iteration.

Reimplemented from sofa::core::behavior::ConstraintResolution.

store()

void sofa::component::constraint::lagrangian::model::UnilateralConstraintResolutionWithFriction::store ( int  , SReal *  , bool    )

overridevirtual

Called after Gauss-Seidel last iteration, in order to store last computed forces for the inital guess.

Reimplemented from sofa::core::behavior::ConstraintResolution.