#include <LinearMovementProjectiveConstraint.h>

Inheritance diagram for sofa::component::constraint::projective::LinearMovementProjectiveConstraint< TDataTypes >:

Detailed Description

template<class TDataTypes>
class sofa::component::constraint::projective::LinearMovementProjectiveConstraint< TDataTypes >

impose a motion to given DOFs (translation and rotation) The motion between 2 key times is linearly interpolated Rigid version doesn't handle Topology change.

Public Attributes
SetIndex	d_indices
	indices of the DOFs the constraint is applied to More...

Data< type::vector< Real > >	d_keyTimes
	the key frames when the motion is defined by the user More...

Data< VecDeriv >	d_keyMovements
	the motions corresponding to the key frames More...

Data< bool >	d_relativeMovements
	indicates whether movements are relative to the dof or absolute More...

Data< bool >	d_showMovement

Real	prevT
	the key times surrounding the current simulation time (for interpolation) More...

Real	nextT

Deriv	prevM
	the motions corresponding to the surrounding key times More...

Deriv	nextM

VecCoord	x0
	initial constrained DOFs position More...

SingleLink< LinearMovementProjectiveConstraint< DataTypes >, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH\|BaseLink::FLAG_STRONGLINK >	l_topology
	Link to be set to the topology container in the component graph. More...

Public Attributes inherited from sofa::core::behavior::ProjectiveConstraintSet< TDataTypes >
Data< Real >	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}

Protected Attributes
std::unique_ptr< LinearMovementProjectiveConstraintInternalData< DataTypes > >	data { nullptr }

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::SingleStateAccessor< TDataTypes >
SingleLink< SingleStateAccessor< TDataTypes >, MechanicalState< TDataTypes >, BaseLink::FLAG_STRONGLINK >	mstate

Public Member Functions
	SOFA_CLASS (SOFA_TEMPLATE(LinearMovementProjectiveConstraint, TDataTypes), SOFA_TEMPLATE(sofa::core::behavior::ProjectiveConstraintSet, TDataTypes))

void	clearIndices ()
	methods to add/remove some indices, keyTimes, keyMovement More...

void	addIndex (Index index)

void	removeIndex (Index index)

void	clearKeyMovements ()

void	addKeyMovement (Real time, Deriv movement)
	Add a new key movement. More...

void	init () override
	– Constraint interface More...

void	reset () override
	Reset to initial state. More...

void	projectResponse (const core::MechanicalParams *mparams, DataVecDeriv &resData) override

void	projectVelocity (const core::MechanicalParams *mparams, DataVecDeriv &vData) override

void	projectPosition (const core::MechanicalParams *mparams, DataVecCoord &xData) override

void	projectJacobianMatrix (const core::MechanicalParams *mparams, DataMatrixDeriv &cData) override

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

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

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

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

Public Member Functions inherited from sofa::core::behavior::ProjectiveConstraintSet< TDataTypes >
	SOFA_CLASS2 (SOFA_TEMPLATE(ProjectiveConstraintSet, TDataTypes), BaseProjectiveConstraintSet, SOFA_TEMPLATE(SingleStateAccessor, TDataTypes))

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

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

virtual void	projectResponse (const MechanicalParams *mparams, MultiVecDerivId dxId)=0

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

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...

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	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

bool	isComponentStateInvalid () const

	SOFA_ATTRIBUTE_DEPRECATED__TOBASECONSTRAINT () virtual const behavior

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)=delete
	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::SingleStateAccessor< TDataTypes >
	SOFA_ABSTRACT_CLASS (SOFA_TEMPLATE(SingleStateAccessor, TDataTypes), StateAccessor)

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

MechanicalState< TDataTypes > *	getMState ()

const MechanicalState< TDataTypes > *	getMState () const

Protected Member Functions
	LinearMovementProjectiveConstraint ()

	~LinearMovementProjectiveConstraint () override

template<class DataDeriv >
void	projectResponseT (DataDeriv &dx, const std::function< void(DataDeriv &, const unsigned int)> &clear)

template<class MyCoord >
void	interpolatePosition (Real cT, typename std::enable_if<!std::is_same< MyCoord, defaulttype::RigidCoord< 3, Real > >::value, VecCoord >::type &x)

template<class MyCoord >
void	interpolatePosition (Real cT, typename std::enable_if< std::is_same< MyCoord, defaulttype::RigidCoord< 3, Real > >::value, VecCoord >::type &x)

Protected Member Functions inherited from sofa::core::behavior::ProjectiveConstraintSet< TDataTypes >
	ProjectiveConstraintSet (MechanicalState< TDataTypes > *mm=nullptr)

	~ProjectiveConstraintSet () 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::SingleStateAccessor< TDataTypes >
	SingleStateAccessor (MechanicalState< TDataTypes > *mm=nullptr)

	~SingleStateAccessor () override=default

Friends
class	LinearMovementProjectiveConstraintInternalData< DataTypes >

Additional Inherited Members
Static Public Member Functions inherited from sofa::core::behavior::ProjectiveConstraintSet< TDataTypes >
static bool	canCreate (T &obj, objectmodel::BaseContext context, objectmodel::BaseObjectDescription *arg)

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

◆ d_indices

template<class TDataTypes >

SetIndex sofa::component::constraint::projective::LinearMovementProjectiveConstraint< TDataTypes >::d_indices

indices of the DOFs the constraint is applied to

◆ d_keyMovements

template<class TDataTypes >

Data<VecDeriv > sofa::component::constraint::projective::LinearMovementProjectiveConstraint< TDataTypes >::d_keyMovements

the motions corresponding to the key frames

◆ d_keyTimes

template<class TDataTypes >

Data<type::vector<Real> > sofa::component::constraint::projective::LinearMovementProjectiveConstraint< TDataTypes >::d_keyTimes

the key frames when the motion is defined by the user

◆ d_relativeMovements

template<class TDataTypes >

Data< bool > sofa::component::constraint::projective::LinearMovementProjectiveConstraint< TDataTypes >::d_relativeMovements

indicates whether movements are relative to the dof or absolute

◆ d_showMovement

template<class TDataTypes >

Data< bool > sofa::component::constraint::projective::LinearMovementProjectiveConstraint< TDataTypes >::d_showMovement

attributes to precise display if d_showMovement is true we display the expected movement otherwise we show which are the fixed dofs

◆ data

template<class TDataTypes >

std::unique_ptr<LinearMovementProjectiveConstraintInternalData<DataTypes> > sofa::component::constraint::projective::LinearMovementProjectiveConstraint< TDataTypes >::data { nullptr }

protected

◆ l_topology

template<class TDataTypes >

SingleLink<LinearMovementProjectiveConstraint<DataTypes>, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> sofa::component::constraint::projective::LinearMovementProjectiveConstraint< TDataTypes >::l_topology

Link to be set to the topology container in the component graph.

◆ nextM

template<class TDataTypes >

Deriv sofa::component::constraint::projective::LinearMovementProjectiveConstraint< TDataTypes >::nextM

◆ nextT

template<class TDataTypes >

Real sofa::component::constraint::projective::LinearMovementProjectiveConstraint< TDataTypes >::nextT

◆ prevM

template<class TDataTypes >

Deriv sofa::component::constraint::projective::LinearMovementProjectiveConstraint< TDataTypes >::prevM

the motions corresponding to the surrounding key times

◆ prevT

template<class TDataTypes >

Real sofa::component::constraint::projective::LinearMovementProjectiveConstraint< TDataTypes >::prevT

the key times surrounding the current simulation time (for interpolation)

◆ x0

template<class TDataTypes >

VecCoord sofa::component::constraint::projective::LinearMovementProjectiveConstraint< TDataTypes >::x0

initial constrained DOFs position

Constructor details

◆ LinearMovementProjectiveConstraint()

template<class DataTypes >

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

protected

◆ ~LinearMovementProjectiveConstraint()

template<class DataTypes >

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

overrideprotected

Function details

◆ addIndex()

template<class DataTypes >

void sofa::component::constraint::projective::LinearMovementProjectiveConstraint< DataTypes >::addIndex ( Index index )

◆ addKeyMovement()

template<class DataTypes >

void sofa::component::constraint::projective::LinearMovementProjectiveConstraint< DataTypes >::addKeyMovement	(	Real	time,
		Deriv	movement
	)

Add a new key movement.

Parameters

time	: the simulation time you want to set a movement (in sec)
movement	: the corresponding motion for instance, addKeyMovement(1.0, Deriv(5,0,0) ) will set a translation of 5 in x direction a time 1.0s

◆ applyConstraint() [1/3]

template<class DataTypes >

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

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::LinearMovementProjectiveConstraint< DataTypes >::applyConstraint	(	const core::MechanicalParams *	,
		linearalgebra::BaseVector *	,
		const sofa::core::behavior::MultiMatrixAccessor *
	)

overridevirtual

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

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

◆ applyConstraint() [3/3]

template<class TDataTypes >

void sofa::component::constraint::projective::LinearMovementProjectiveConstraint< TDataTypes >::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.

◆ clearIndices()

template<class DataTypes >

void sofa::component::constraint::projective::LinearMovementProjectiveConstraint< DataTypes >::clearIndices

methods to add/remove some indices, keyTimes, keyMovement

◆ clearKeyMovements()

template<class DataTypes >

void sofa::component::constraint::projective::LinearMovementProjectiveConstraint< DataTypes >::clearKeyMovements

◆ draw()

template<class DataTypes >

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

overridevirtual

Render internal data of this object, for debugging purposes.

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

◆ init() [1/2]

SOFA_COMPONENT_CONSTRAINT_PROJECTIVE_API void sofa::component::constraint::projective::LinearMovementProjectiveConstraint< defaulttype::Rigid3Types >::init ( void )

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::projective::LinearMovementProjectiveConstraint< DataTypes >::init ( void )

overridevirtual

– Constraint interface

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

◆ interpolatePosition() [1/2]

template<class DataTypes >

template<class MyCoord >

void sofa::component::constraint::projective::LinearMovementProjectiveConstraint< DataTypes >::interpolatePosition	(	Real	cT,
		typename std::enable_if< std::is_same< MyCoord, defaulttype::RigidCoord< 3, Real > >::value, VecCoord >::type &	x
	)

protected

◆ interpolatePosition() [2/2]

template<class DataTypes >

template<class MyCoord >

void sofa::component::constraint::projective::LinearMovementProjectiveConstraint< DataTypes >::interpolatePosition	(	Real	cT,
		typename std::enable_if<!std::is_same< MyCoord, defaulttype::RigidCoord< 3, Real > >::value, VecCoord >::type &	x
	)

protected

◆ projectJacobianMatrix()

template<class DataTypes >

void sofa::component::constraint::projective::LinearMovementProjectiveConstraint< DataTypes >::projectJacobianMatrix	(	const core::MechanicalParams *	,
		DataMatrixDeriv &	cData
	)

overridevirtual

Project c to constrained space (c models a constraint).

This method must be implemented by the component to handle Lagrange Multiplier based constraint

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

◆ projectMatrix()

template<class DataTypes >

void sofa::component::constraint::projective::LinearMovementProjectiveConstraint< DataTypes >::projectMatrix	(	sofa::linearalgebra::BaseMatrix *	,
		unsigned
	)

overridevirtual

Project the given matrix (Experimental API). Replace M with PMP, where P is the projection matrix corresponding to the projectResponse method. Contrary to applyConstraint(), the diagonal blocks of the result are not reset to the identity. Typically, M is the (generalized) mass matrix of the whole system, offset is the starting index of the local state in this global matrix, and P is the identity matrix with a block on the diagonal replaced by the projection matrix. If M is the matrix of the local state, then offset should be 0.

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

◆ projectPosition()

template<class DataTypes >

void sofa::component::constraint::projective::LinearMovementProjectiveConstraint< DataTypes >::projectPosition	(	const core::MechanicalParams *	mparams,
		DataVecCoord &	x
	)

overridevirtual

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

This method must be implemented by the component, and is usually called by the generic ProjectiveConstraintSet::projectPosition() method.

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

◆ projectResponse()

template<class DataTypes >

void sofa::component::constraint::projective::LinearMovementProjectiveConstraint< DataTypes >::projectResponse	(	const core::MechanicalParams *	mparams,
		DataVecDeriv &	dx
	)

overridevirtual

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

This method must be implemented by the component, and is usually called by the generic ProjectiveConstraintSet::projectResponse() method.

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

◆ projectResponseT()

template<class DataTypes >

template<class DataDeriv >

void sofa::component::constraint::projective::LinearMovementProjectiveConstraint< DataTypes >::projectResponseT	(	DataDeriv &	dx,
		const std::function< void(DataDeriv &, const unsigned int)> &	clear
	)

protected

◆ projectVelocity()

template<class DataTypes >

void sofa::component::constraint::projective::LinearMovementProjectiveConstraint< DataTypes >::projectVelocity	(	const core::MechanicalParams *	mparams,
		DataVecDeriv &	v
	)

overridevirtual

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

This method must be implemented by the component, and is usually called by the generic ProjectiveConstraintSet::projectVelocity() method.

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

◆ removeIndex()

template<class DataTypes >

void sofa::component::constraint::projective::LinearMovementProjectiveConstraint< DataTypes >::removeIndex ( Index index )

◆ reset()

template<class DataTypes >

void sofa::component::constraint::projective::LinearMovementProjectiveConstraint< DataTypes >::reset

overridevirtual

Reset to initial state.

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

◆ SOFA_CLASS()

template<class TDataTypes >

sofa::component::constraint::projective::LinearMovementProjectiveConstraint< TDataTypes >::SOFA_CLASS	(	SOFA_TEMPLATE(LinearMovementProjectiveConstraint< TDataTypes >, TDataTypes)	,
		SOFA_TEMPLATE(sofa::core::behavior::ProjectiveConstraintSet, TDataTypes)
	)

Related details

◆ LinearMovementProjectiveConstraintInternalData< DataTypes >

template<class TDataTypes >

friend class LinearMovementProjectiveConstraintInternalData< DataTypes >

friend

Detailed Description

template<class TDataTypes> class sofa::component::constraint::projective::LinearMovementProjectiveConstraint< TDataTypes >

Public Attributes

Protected Attributes

Public Member Functions

Protected Member Functions

Friends

Additional Inherited Members

Attribute details

◆ d_indices

◆ d_keyMovements

◆ d_keyTimes

◆ d_relativeMovements

◆ d_showMovement

◆ data

◆ l_topology

◆ nextM

◆ nextT

◆ prevM

◆ prevT

◆ x0

Constructor details

◆ LinearMovementProjectiveConstraint()

◆ ~LinearMovementProjectiveConstraint()

Function details

◆ addIndex()

◆ addKeyMovement()

◆ applyConstraint() [1/3]

◆ applyConstraint() [2/3]

◆ applyConstraint() [3/3]

◆ clearIndices()

◆ clearKeyMovements()

◆ draw()

◆ init() [1/2]

◆ init() [2/2]

◆ interpolatePosition() [1/2]

◆ interpolatePosition() [2/2]

◆ projectJacobianMatrix()

◆ projectMatrix()

◆ projectPosition()

◆ projectResponse()

◆ projectResponseT()

◆ projectVelocity()

◆ removeIndex()

◆ reset()

◆ SOFA_CLASS()

Related details

◆ LinearMovementProjectiveConstraintInternalData< DataTypes >

template<class TDataTypes>
class sofa::component::constraint::projective::LinearMovementProjectiveConstraint< TDataTypes >