#include <AttachProjectiveConstraint.h>

Inheritance diagram for sofa::component::constraint::projective::AttachProjectiveConstraint< DataTypes >:

Detailed Description

template<class DataTypes>
class sofa::component::constraint::projective::AttachProjectiveConstraint< DataTypes >

Attach given pair of particles, projecting the positions of the second particles to the first ones.

Public Attributes
SetIndex	f_indices1
	Indices of the source points on the first model. More...

SetIndex	f_indices2
	Indices of the fixed points on the second model. More...

Data< bool >	f_twoWay
	if true, projects the constraint vertices of both object1 and object2 towards their average degrees of freedom and derivatives. If false, the position of the object1 are projected onto the object2. Therefore, object2 only follows object1 without affecting the motion of object1 More...

Data< bool >	f_freeRotations
	true to keep rotations free (only used for Rigid DOFs) More...

Data< bool >	f_lastFreeRotation
	true to keep rotation of the last attached point free (only used for Rigid DOFs) More...

Data< bool >	f_restRotations
	true to use rest rotations local offsets (only used for Rigid DOFs) More...

Data< type::Vec3 >	f_lastPos
	position at which the attach constraint should become inactive More...

Data< type::Vec3 >	f_lastDir
	direction from lastPos at which the attach coustraint should become inactive More...

Data< bool >	f_clamp
	true to clamp particles at lastPos instead of freeing them. More...

Data< Real >	f_minDistance
	the constraint become inactive if the distance between the points attached is bigger than minDistance. More...

Data< Real >	d_positionFactor
	IN: Factor applied to projection of position. More...

Data< Real >	d_velocityFactor
	IN: Factor applied to projection of velocity. More...

Data< Real >	d_responseFactor
	IN: Factor applied to projection of force/acceleration. More...

Data< type::vector< Real > >	d_constraintFactor
	Vector of factors adapting the application of the constraint per pair of points (0 -> the constraint is released. 1 -> the constraint is fully constrained) More...

type::vector< bool >	activeFlags

type::vector< bool >	constraintReleased

type::vector< Real >	lastDist

type::vector< type::Quat< SReal > >	restRotations

Public Attributes inherited from sofa::core::behavior::PairInteractionProjectiveConstraintSet< DataTypes >
Data< SReal >	endTime
	The constraint stops acting after the given value. Use a negative value for infinite constraints. More...

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}

Public Member Functions
	SOFA_CLASS (SOFA_TEMPLATE(AttachProjectiveConstraint, DataTypes), SOFA_TEMPLATE(sofa::core::behavior::PairInteractionProjectiveConstraintSet, DataTypes))

void	init () override
	Inherited from Base. More...

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

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

void	projectJacobianMatrix (const core::MechanicalParams *mparams, core::MultiMatrixDerivId cId) override
	Inherited from Constraint. More...

void	projectResponse (const core::MechanicalParams *mparams, DataVecDeriv &dx1, DataVecDeriv &dx2) override
	Project dx to constrained space (dx models an acceleration). More...

void	projectVelocity (const core::MechanicalParams *mparams, DataVecDeriv &v1, DataVecDeriv &v2) override
	Project v to constrained space (v models a velocity). More...

void	projectPosition (const core::MechanicalParams *mparams, DataVecCoord &x1, DataVecCoord &x2) override
	Project x to constrained space (x models a position). More...

void	applyConstraint (const core::MechanicalParams mparams, const sofa::core::behavior::MultiMatrixAccessor matrix) override
	Project the global Mechanical Matrix to constrained space using offset parameter. More...

void	applyConstraint (const core::MechanicalParams mparams, linearalgebra::BaseVector vector, const sofa::core::behavior::MultiMatrixAccessor *matrix) override
	Project the global Mechanical Vector to constrained space using offset parameter. More...

void	applyConstraint (sofa::core::behavior::ZeroDirichletCondition *matrix) override

virtual void	reinitIfChanged ()

Public Member Functions inherited from sofa::core::behavior::PairInteractionProjectiveConstraintSet< DataTypes >
	SOFA_CLASS2 (SOFA_TEMPLATE(PairInteractionProjectiveConstraintSet, DataTypes), BaseInteractionProjectiveConstraintSet, SOFA_TEMPLATE2(PairStateAccessor, DataTypes, DataTypes))

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

void	applyConstraint (const MechanicalParams , const sofa::core::behavior::MultiMatrixAccessor ) override
	Project the global Mechanical Matrix to constrained space using offset parameter. More...

void	applyConstraint (const MechanicalParams , linearalgebra::BaseVector , const sofa::core::behavior::MultiMatrixAccessor *) override
	Project the global Mechanical Vector to constrained space using offset parameter. More...

void	projectResponse (const MechanicalParams *mparams, MultiVecDerivId dxId) override

void	projectJacobianMatrix (const MechanicalParams *mparams, MultiMatrixDerivId cId) override

void	projectVelocity (const MechanicalParams *mparams, MultiVecDerivId vId) override

void	projectPosition (const MechanicalParams *mparams, MultiVecCoordId xId) override

Public Member Functions inherited from sofa::core::behavior::BaseInteractionProjectiveConstraintSet
	SOFA_ABSTRACT_CLASS (BaseInteractionProjectiveConstraintSet, BaseProjectiveConstraintSet)

virtual BaseMechanicalState *	getMechModel1 ()

virtual BaseMechanicalState *	getMechModel2 ()

virtual type::vector< core::BaseState * >	getModels () override
	Return the lists of models this constraint applies to. More...

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

int	getGroup () const

void	setGroup (int g)

bool	insertInNode (objectmodel::BaseNode *node) override

bool	removeInNode (objectmodel::BaseNode *node) override

virtual void	projectResponse (const MechanicalParams , double *)
	Project the compliance Matrix to constrained space. More...

virtual void	projectMatrix (sofa::linearalgebra::BaseMatrix *, unsigned)

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::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	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	bwdInit ()
	Initialization method called at graph creation and modification, during bottom-up traversal. 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::PairStateAccessor< DataTypes1, DataTypes2 >
	SOFA_ABSTRACT_CLASS (SOFA_TEMPLATE2(PairStateAccessor, DataTypes1, DataTypes2), StateAccessor)

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

MechanicalState< DataTypes1 > *	getMState1 ()
	Retrieve the associated MechanicalState #1. More...

const MechanicalState< DataTypes1 > *	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< DataTypes2 > *	getMState2 ()
	Retrieve the associated MechanicalState #2. More...

const MechanicalState< DataTypes2 > *	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...

Static Public Member Functions
template<class T >
static std::string	templateName (const T *ptr=nullptr)

Static Public Member Functions inherited from sofa::core::behavior::PairInteractionProjectiveConstraintSet< DataTypes >
static bool	canCreate (T obj, objectmodel::BaseContext context, objectmodel::BaseObjectDescription *arg)

static T::SPtr	create (T , 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)

Protected Member Functions
	AttachProjectiveConstraint ()

	AttachProjectiveConstraint (core::behavior::MechanicalState< DataTypes > mm1, core::behavior::MechanicalState< DataTypes > mm2)

	~AttachProjectiveConstraint () override

const Real	getConstraintFactor (const int index)

void	doProjectPosition (Coord &x1, Coord &x2, bool freeRotations, unsigned index, Real positionFactor)

void	doProjectVelocity (Deriv &x1, Deriv &x2, bool freeRotations, unsigned index, Real velocityFactor)

void	doProjectResponse (Deriv &dx1, Deriv &dx2, bool freeRotations, bool twoway, unsigned index, Real responseFactor)

void	calcRestRotations ()

SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API void	calcRestRotations ()

void	doProjectPosition (Coord &x1, Coord &x2, bool freeRotations, unsigned index, Real positionFactor)

void	doProjectPosition (Coord &x1, Coord &x2, bool freeRotations, unsigned index, Real positionFactor)

void	doProjectVelocity (Deriv &x1, Deriv &x2, bool freeRotations, unsigned index, Real velocityFactor)

void	doProjectVelocity (Deriv &x1, Deriv &x2, bool freeRotations, unsigned index, Real velocityFactor)

void	doProjectResponse (Deriv &dx1, Deriv &dx2, bool freeRotations, bool twoway, unsigned index, Real responseFactor)

void	doProjectResponse (Deriv &dx1, Deriv &dx2, bool freeRotations, bool twoway, unsigned index, Real responseFactor)

void	calcRestRotations ()

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

	~PairInteractionProjectiveConstraintSet () override

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

	~BaseProjectiveConstraintSet () override

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

	~StateAccessor () override=default

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::IntrusiveObject
virtual	~IntrusiveObject ()=default

Protected Member Functions inherited from sofa::core::behavior::PairStateAccessor< DataTypes1, DataTypes2 >
	PairStateAccessor (MechanicalState< DataTypes1 > mm1=nullptr, MechanicalState< DataTypes2 > mm2=nullptr)

	~PairStateAccessor () override=default

Static Protected Member Functions
static unsigned int	DerivConstrainedSize (bool freeRotations)

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

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::PairStateAccessor< DataTypes1, DataTypes2 >
SingleLink< PairStateAccessor< DataTypes1, DataTypes2 >, MechanicalState< DataTypes1 >, BaseLink::FLAG_STOREPATH\|BaseLink::FLAG_STRONGLINK >	mstate1

SingleLink< PairStateAccessor< DataTypes1, DataTypes2 >, MechanicalState< DataTypes2 >, BaseLink::FLAG_STOREPATH\|BaseLink::FLAG_STRONGLINK >	mstate2

Attribute details

◆ activeFlags

template<class DataTypes >

type::vector<bool> sofa::component::constraint::projective::AttachProjectiveConstraint< DataTypes >::activeFlags

◆ constraintReleased

template<class DataTypes >

type::vector<bool> sofa::component::constraint::projective::AttachProjectiveConstraint< DataTypes >::constraintReleased

◆ d_constraintFactor

template<class DataTypes >

Data< type::vector<Real> > sofa::component::constraint::projective::AttachProjectiveConstraint< DataTypes >::d_constraintFactor

Vector of factors adapting the application of the constraint per pair of points (0 -> the constraint is released. 1 -> the constraint is fully constrained)

◆ d_positionFactor

template<class DataTypes >

Data< Real > sofa::component::constraint::projective::AttachProjectiveConstraint< DataTypes >::d_positionFactor

IN: Factor applied to projection of position.

◆ d_responseFactor

template<class DataTypes >

Data< Real > sofa::component::constraint::projective::AttachProjectiveConstraint< DataTypes >::d_responseFactor

IN: Factor applied to projection of force/acceleration.

◆ d_velocityFactor

template<class DataTypes >

Data< Real > sofa::component::constraint::projective::AttachProjectiveConstraint< DataTypes >::d_velocityFactor

IN: Factor applied to projection of velocity.

◆ f_clamp

template<class DataTypes >

Data<bool> sofa::component::constraint::projective::AttachProjectiveConstraint< DataTypes >::f_clamp

true to clamp particles at lastPos instead of freeing them.

◆ f_freeRotations

template<class DataTypes >

Data<bool> sofa::component::constraint::projective::AttachProjectiveConstraint< DataTypes >::f_freeRotations

true to keep rotations free (only used for Rigid DOFs)

◆ f_indices1

template<class DataTypes >

SetIndex sofa::component::constraint::projective::AttachProjectiveConstraint< DataTypes >::f_indices1

Indices of the source points on the first model.

◆ f_indices2

template<class DataTypes >

SetIndex sofa::component::constraint::projective::AttachProjectiveConstraint< DataTypes >::f_indices2

Indices of the fixed points on the second model.

◆ f_lastDir

template<class DataTypes >

Data<type::Vec3> sofa::component::constraint::projective::AttachProjectiveConstraint< DataTypes >::f_lastDir

direction from lastPos at which the attach coustraint should become inactive

◆ f_lastFreeRotation

template<class DataTypes >

Data<bool> sofa::component::constraint::projective::AttachProjectiveConstraint< DataTypes >::f_lastFreeRotation

true to keep rotation of the last attached point free (only used for Rigid DOFs)

◆ f_lastPos

template<class DataTypes >

Data<type::Vec3> sofa::component::constraint::projective::AttachProjectiveConstraint< DataTypes >::f_lastPos

position at which the attach constraint should become inactive

◆ f_minDistance

template<class DataTypes >

Data<Real> sofa::component::constraint::projective::AttachProjectiveConstraint< DataTypes >::f_minDistance

the constraint become inactive if the distance between the points attached is bigger than minDistance.

◆ f_restRotations

template<class DataTypes >

Data<bool> sofa::component::constraint::projective::AttachProjectiveConstraint< DataTypes >::f_restRotations

true to use rest rotations local offsets (only used for Rigid DOFs)

◆ f_twoWay

template<class DataTypes >

Data<bool> sofa::component::constraint::projective::AttachProjectiveConstraint< DataTypes >::f_twoWay

if true, projects the constraint vertices of both object1 and object2 towards their average degrees of freedom and derivatives. If false, the position of the object1 are projected onto the object2. Therefore, object2 only follows object1 without affecting the motion of object1

◆ lastDist

template<class DataTypes >

type::vector<Real> sofa::component::constraint::projective::AttachProjectiveConstraint< DataTypes >::lastDist

◆ restRotations

template<class DataTypes >

type::vector<type::Quat<SReal> > sofa::component::constraint::projective::AttachProjectiveConstraint< DataTypes >::restRotations

Constructor details

◆ AttachProjectiveConstraint() [1/2]

template<class DataTypes >

sofa::component::constraint::projective::AttachProjectiveConstraint< DataTypes >::AttachProjectiveConstraint

protected

◆ AttachProjectiveConstraint() [2/2]

template<class DataTypes >

sofa::component::constraint::projective::AttachProjectiveConstraint< DataTypes >::AttachProjectiveConstraint	(	core::behavior::MechanicalState< DataTypes > *	mm1,
		core::behavior::MechanicalState< DataTypes > *	mm2
	)

protected

◆ ~AttachProjectiveConstraint()

template<class DataTypes >

sofa::component::constraint::projective::AttachProjectiveConstraint< DataTypes >::~AttachProjectiveConstraint

overrideprotected

Function details

◆ applyConstraint() [1/3]

template<class DataTypes >

void sofa::component::constraint::projective::AttachProjectiveConstraint< DataTypes >::applyConstraint	(	const core::MechanicalParams *	mparams,
		const sofa::core::behavior::MultiMatrixAccessor *	matrix
	)

overridevirtual

Project the global Mechanical Matrix to constrained space using offset parameter.

Reimplemented from sofa::core::behavior::BaseProjectiveConstraintSet.

◆ applyConstraint() [2/3]

template<class DataTypes >

void sofa::component::constraint::projective::AttachProjectiveConstraint< DataTypes >::applyConstraint	(	const core::MechanicalParams *	mparams,
		linearalgebra::BaseVector *	vector,
		const sofa::core::behavior::MultiMatrixAccessor *	matrix
	)

overridevirtual

Project the global Mechanical Vector to constrained space using offset parameter.

Reimplemented from sofa::core::behavior::BaseProjectiveConstraintSet.

◆ applyConstraint() [3/3]

template<class DataTypes >

void sofa::component::constraint::projective::AttachProjectiveConstraint< DataTypes >::applyConstraint ( sofa::core::behavior::ZeroDirichletCondition * zeroDirichletCondition )

overridevirtual

Project the global matrix to constrained space by using the ZeroDirichletCondition interface It allows to define what rows and columns to discard for the projection.

Reimplemented from sofa::core::behavior::BaseProjectiveConstraintSet.

◆ calcRestRotations() [1/3]

SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API void sofa::component::constraint::projective::AttachProjectiveConstraint< Rigid3Types >::calcRestRotations ( )

protected

◆ calcRestRotations() [2/3]

template<class DataTypes >

void sofa::component::constraint::projective::AttachProjectiveConstraint< DataTypes >::calcRestRotations

protected

◆ calcRestRotations() [3/3]

void sofa::component::constraint::projective::AttachProjectiveConstraint< sofa::defaulttype::Rigid3Types >::calcRestRotations ( )

protected

◆ DerivConstrainedSize()

template<class DataTypes >

unsigned int sofa::component::constraint::projective::AttachProjectiveConstraint< DataTypes >::DerivConstrainedSize ( bool freeRotations )

inlinestaticprotected

◆ doProjectPosition() [1/3]

template<class DataTypes >

void sofa::component::constraint::projective::AttachProjectiveConstraint< DataTypes >::doProjectPosition	(	Coord &	x1,
		Coord &	x2,
		bool	freeRotations,
		unsigned	index,
		Real	positionFactor
	)

protected

◆ doProjectPosition() [2/3]

void sofa::component::constraint::projective::AttachProjectiveConstraint< defaulttype::Rigid3Types >::doProjectPosition	(	Coord &	x1,
		Coord &	x2,
		bool	freeRotations,
		unsigned	index,
		Real	positionFactor
	)

inlineprotected

◆ doProjectPosition() [3/3]

void sofa::component::constraint::projective::AttachProjectiveConstraint< defaulttype::Rigid2Types >::doProjectPosition	(	Coord &	x1,
		Coord &	x2,
		bool	freeRotations,
		unsigned	index,
		Real	positionFactor
	)

inlineprotected

◆ doProjectResponse() [1/3]

template<class DataTypes >

void sofa::component::constraint::projective::AttachProjectiveConstraint< DataTypes >::doProjectResponse	(	Deriv &	dx1,
		Deriv &	dx2,
		bool	freeRotations,
		bool	twoway,
		unsigned	index,
		Real	responseFactor
	)

protected

◆ doProjectResponse() [2/3]

void sofa::component::constraint::projective::AttachProjectiveConstraint< defaulttype::Rigid3Types >::doProjectResponse	(	Deriv &	dx1,
		Deriv &	dx2,
		bool	freeRotations,
		bool	twoway,
		unsigned	index,
		Real	responseFactor
	)

inlineprotected

◆ doProjectResponse() [3/3]

void sofa::component::constraint::projective::AttachProjectiveConstraint< defaulttype::Rigid2Types >::doProjectResponse	(	Deriv &	dx1,
		Deriv &	dx2,
		bool	freeRotations,
		bool	twoway,
		unsigned	index,
		Real	responseFactor
	)

inlineprotected

◆ doProjectVelocity() [1/3]

template<class DataTypes >

void sofa::component::constraint::projective::AttachProjectiveConstraint< DataTypes >::doProjectVelocity	(	Deriv &	x1,
		Deriv &	x2,
		bool	freeRotations,
		unsigned	index,
		Real	velocityFactor
	)

protected

◆ doProjectVelocity() [2/3]

void sofa::component::constraint::projective::AttachProjectiveConstraint< defaulttype::Rigid3Types >::doProjectVelocity	(	Deriv &	x1,
		Deriv &	x2,
		bool	freeRotations,
		unsigned	index,
		Real	velocityFactor
	)

inlineprotected

◆ doProjectVelocity() [3/3]

void sofa::component::constraint::projective::AttachProjectiveConstraint< defaulttype::Rigid2Types >::doProjectVelocity	(	Deriv &	x1,
		Deriv &	x2,
		bool	freeRotations,
		unsigned	index,
		Real	velocityFactor
	)

inlineprotected

◆ draw()

template<class DataTypes >

void sofa::component::constraint::projective::AttachProjectiveConstraint< DataTypes >::draw ( const core::visual::VisualParams * )

overridevirtual

Render internal data of this object, for debugging purposes.

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

◆ getConstraintFactor()

template<class DataTypes >

const DataTypes::Real sofa::component::constraint::projective::AttachProjectiveConstraint< DataTypes >::getConstraintFactor ( const int index )

protected

◆ init()

template<class DataTypes >

void sofa::component::constraint::projective::AttachProjectiveConstraint< DataTypes >::init ( void )

overridevirtual

Inherited from Base.

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

◆ projectJacobianMatrix()

template<class DataTypes >

void sofa::component::constraint::projective::AttachProjectiveConstraint< DataTypes >::projectJacobianMatrix	(	const core::MechanicalParams *	mparams,
		core::MultiMatrixDerivId	cId
	)

overridevirtual

Inherited from Constraint.

Implements sofa::core::behavior::BaseProjectiveConstraintSet.

◆ projectPosition()

template<class DataTypes >

void sofa::component::constraint::projective::AttachProjectiveConstraint< DataTypes >::projectPosition	(	const core::MechanicalParams *	,
		DataVecCoord &	x1,
		DataVecCoord &	x2
	)

overridevirtual

Project x to constrained space (x models a position).

Implements sofa::core::behavior::PairInteractionProjectiveConstraintSet< DataTypes >.

◆ projectResponse()

template<class DataTypes >

void sofa::component::constraint::projective::AttachProjectiveConstraint< DataTypes >::projectResponse	(	const core::MechanicalParams *	,
		DataVecDeriv &	dx1,
		DataVecDeriv &	dx2
	)

overridevirtual

Project dx to constrained space (dx models an acceleration).

Implements sofa::core::behavior::PairInteractionProjectiveConstraintSet< DataTypes >.

◆ projectVelocity()

template<class DataTypes >

void sofa::component::constraint::projective::AttachProjectiveConstraint< DataTypes >::projectVelocity	(	const core::MechanicalParams *	,
		DataVecDeriv &	v1,
		DataVecDeriv &	v2
	)

overridevirtual

Project v to constrained space (v models a velocity).

Implements sofa::core::behavior::PairInteractionProjectiveConstraintSet< DataTypes >.

◆ reinit()

template<class DataTypes >

void sofa::component::constraint::projective::AttachProjectiveConstraint< DataTypes >::reinit

overridevirtual

Update method called when variables used in precomputation are modified.

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

◆ reinitIfChanged()

template<class DataTypes >

void sofa::component::constraint::projective::AttachProjectiveConstraint< DataTypes >::reinitIfChanged

virtual

◆ SOFA_CLASS()

template<class DataTypes >

sofa::component::constraint::projective::AttachProjectiveConstraint< DataTypes >::SOFA_CLASS	(	SOFA_TEMPLATE(AttachProjectiveConstraint< DataTypes >, DataTypes)	,
		SOFA_TEMPLATE(sofa::core::behavior::PairInteractionProjectiveConstraintSet, DataTypes)
	)

◆ templateName()

template<class DataTypes >

template<class T >

static std::string sofa::component::constraint::projective::AttachProjectiveConstraint< DataTypes >::templateName ( const T * ptr = nullptr )

inlinestatic

Detailed Description

template<class DataTypes> class sofa::component::constraint::projective::AttachProjectiveConstraint< DataTypes >

Public Attributes

Public Member Functions

Static Public Member Functions

Protected Member Functions

Static Protected Member Functions

Additional Inherited Members

Attribute details

◆ activeFlags

◆ constraintReleased

◆ d_constraintFactor

◆ d_positionFactor

◆ d_responseFactor

◆ d_velocityFactor

◆ f_clamp

◆ f_freeRotations

◆ f_indices1

◆ f_indices2

◆ f_lastDir

◆ f_lastFreeRotation

◆ f_lastPos

◆ f_minDistance

◆ f_restRotations

◆ f_twoWay

◆ lastDist

◆ restRotations

Constructor details

◆ AttachProjectiveConstraint() [1/2]

◆ AttachProjectiveConstraint() [2/2]

◆ ~AttachProjectiveConstraint()

Function details

◆ applyConstraint() [1/3]

◆ applyConstraint() [2/3]

◆ applyConstraint() [3/3]

◆ calcRestRotations() [1/3]

◆ calcRestRotations() [2/3]

◆ calcRestRotations() [3/3]

◆ DerivConstrainedSize()

◆ doProjectPosition() [1/3]

◆ doProjectPosition() [2/3]

◆ doProjectPosition() [3/3]

◆ doProjectResponse() [1/3]

◆ doProjectResponse() [2/3]

◆ doProjectResponse() [3/3]

◆ doProjectVelocity() [1/3]

◆ doProjectVelocity() [2/3]

◆ doProjectVelocity() [3/3]

◆ draw()

◆ getConstraintFactor()

◆ init()

◆ projectJacobianMatrix()

◆ projectPosition()

◆ projectResponse()

◆ projectVelocity()

◆ reinit()

◆ reinitIfChanged()

◆ SOFA_CLASS()

◆ templateName()

template<class DataTypes>
class sofa::component::constraint::projective::AttachProjectiveConstraint< DataTypes >