#include <PartialLinearMovementProjectiveConstraint.h>
impose a motion to given DOFs (translation and rotation) in some directions only. The moved and free directioons are the same for all the particles, defined in the movedDirections attribute. The motion between 2 key times is linearly interpolated
Public Attributes | |
SetIndex | m_indices |
indices of the DOFs the constraint is applied to More... | |
core::objectmodel::Data< type::vector< Real > > | m_keyTimes |
the key frames when the motion is defined by the user More... | |
core::objectmodel::Data< VecDeriv > | m_keyMovements |
the motions corresponding to the key frames More... | |
core::objectmodel::Data< bool > | showMovement |
Real | prevT |
the key times surrounding the current simulation time (for interpolation) More... | |
Real | nextT |
Deriv | prevM |
the motions corresponding to the surrouding key times More... | |
Deriv | nextM |
VecCoord | x0 |
initial constrained DOFs position More... | |
core::objectmodel::Data< bool > | linearMovementBetweenNodesInIndices |
Take into account the linear movement between the constrained points. More... | |
core::objectmodel::Data< unsigned > | mainIndice |
The main indice node in the list of constrained nodes, it defines how to apply the linear movement between this constrained nodes. More... | |
core::objectmodel::Data< unsigned > | minDepIndice |
The indice node in the list of constrained nodes, which is imposed the minimum displacment. More... | |
core::objectmodel::Data< unsigned > | maxDepIndice |
The indice node in the list of constrained nodes, which is imposed the maximum displacment. More... | |
core::objectmodel::Data< type::vector< Real > > | m_imposedDisplacmentOnMacroNodes |
and u1 u2 u3 u4 u5 u6 u7 u8 for 3d case More... | |
Data< Real > | X0 |
Size of specimen in X-direction. More... | |
Data< Real > | Y0 |
Size of specimen in Y-direction. More... | |
Data< Real > | Z0 |
Size of specimen in Z-direction. More... | |
core::objectmodel::Data< VecBool > | movedDirections |
Defines the directions in which the particles are moved: true (or 1) for fixed, false (or 0) for free. More... | |
SingleLink< PartialLinearMovementProjectiveConstraint< 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 |
Time when the constraint becomes inactive (-1 for infinitely active) 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 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} |
Public Member Functions | |
SOFA_CLASS (SOFA_TEMPLATE(PartialLinearMovementProjectiveConstraint, 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 | 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 *) override |
Render internal data of this object, for debugging purposes. More... | |
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) |
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... | |
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... | |
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 |
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::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 | |
PartialLinearMovementProjectiveConstraint () | |
~PartialLinearMovementProjectiveConstraint () override | |
template<class DataDeriv > | |
void | projectResponseT (DataDeriv &dx, const std::function< void(DataDeriv &, const unsigned int, const VecBool &)> &clear) |
template<class MyCoord > | |
void | interpolatePosition (Real cT, typename std::enable_if<!std::is_same< MyCoord, sofa::defaulttype::RigidCoord< 3, Real > >::value, VecCoord >::type &x) |
template<class MyCoord > | |
void | interpolatePosition (Real cT, typename std::enable_if< std::is_same< MyCoord, sofa::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::behavior::SingleStateAccessor< TDataTypes > | |
SingleStateAccessor (MechanicalState< TDataTypes > *mm=nullptr) | |
~SingleStateAccessor () override=default | |
Friends | |
class | PartialLinearMovementProjectiveConstraintInternalData< 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) |
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protected |
Link to be set to the topology container in the component graph.
core::objectmodel::Data<bool> sofa::component::constraint::projective::PartialLinearMovementProjectiveConstraint< TDataTypes >::linearMovementBetweenNodesInIndices |
Take into account the linear movement between the constrained points.
core::objectmodel::Data<type::vector<Real> > sofa::component::constraint::projective::PartialLinearMovementProjectiveConstraint< TDataTypes >::m_imposedDisplacmentOnMacroNodes |
and u1 u2 u3 u4 u5 u6 u7 u8 for 3d case
imposed displacement at u1 u2 u3 u4 for 2d case
SetIndex sofa::component::constraint::projective::PartialLinearMovementProjectiveConstraint< TDataTypes >::m_indices |
indices of the DOFs the constraint is applied to
core::objectmodel::Data<VecDeriv > sofa::component::constraint::projective::PartialLinearMovementProjectiveConstraint< TDataTypes >::m_keyMovements |
the motions corresponding to the key frames
core::objectmodel::Data<type::vector<Real> > sofa::component::constraint::projective::PartialLinearMovementProjectiveConstraint< TDataTypes >::m_keyTimes |
the key frames when the motion is defined by the user
core::objectmodel::Data<unsigned> sofa::component::constraint::projective::PartialLinearMovementProjectiveConstraint< TDataTypes >::mainIndice |
The main indice node in the list of constrained nodes, it defines how to apply the linear movement between this constrained nodes.
core::objectmodel::Data<unsigned> sofa::component::constraint::projective::PartialLinearMovementProjectiveConstraint< TDataTypes >::maxDepIndice |
The indice node in the list of constrained nodes, which is imposed the maximum displacment.
core::objectmodel::Data<unsigned> sofa::component::constraint::projective::PartialLinearMovementProjectiveConstraint< TDataTypes >::minDepIndice |
The indice node in the list of constrained nodes, which is imposed the minimum displacment.
core::objectmodel::Data<VecBool> sofa::component::constraint::projective::PartialLinearMovementProjectiveConstraint< TDataTypes >::movedDirections |
Defines the directions in which the particles are moved: true (or 1) for fixed, false (or 0) for free.
Deriv sofa::component::constraint::projective::PartialLinearMovementProjectiveConstraint< TDataTypes >::nextM |
Real sofa::component::constraint::projective::PartialLinearMovementProjectiveConstraint< TDataTypes >::nextT |
Deriv sofa::component::constraint::projective::PartialLinearMovementProjectiveConstraint< TDataTypes >::prevM |
the motions corresponding to the surrouding key times
Real sofa::component::constraint::projective::PartialLinearMovementProjectiveConstraint< TDataTypes >::prevT |
the key times surrounding the current simulation time (for interpolation)
core::objectmodel::Data< bool > sofa::component::constraint::projective::PartialLinearMovementProjectiveConstraint< TDataTypes >::showMovement |
attributes to precise display if showMovement is true we display the expected movement otherwise we show which are the fixed dofs
VecCoord sofa::component::constraint::projective::PartialLinearMovementProjectiveConstraint< TDataTypes >::x0 |
initial constrained DOFs position
Data<Real> sofa::component::constraint::projective::PartialLinearMovementProjectiveConstraint< TDataTypes >::X0 |
Size of specimen in X-direction.
Data<Real> sofa::component::constraint::projective::PartialLinearMovementProjectiveConstraint< TDataTypes >::Y0 |
Size of specimen in Y-direction.
Data<Real> sofa::component::constraint::projective::PartialLinearMovementProjectiveConstraint< TDataTypes >::Z0 |
Size of specimen in Z-direction.
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protected |
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overrideprotected |
void sofa::component::constraint::projective::PartialLinearMovementProjectiveConstraint< DataTypes >::addIndex | ( | Index | index | ) |
void sofa::component::constraint::projective::PartialLinearMovementProjectiveConstraint< DataTypes >::addKeyMovement | ( | Real | time, |
Deriv | movement | ||
) |
Add a new key movement.
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 |
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overridevirtual |
Project the global Mechanical Matrix to constrained space using offset parameter.
Reimplemented from sofa::core::behavior::BaseProjectiveConstraintSet.
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overridevirtual |
Project the global Mechanical Vector to constrained space using offset parameter.
Reimplemented from sofa::core::behavior::BaseProjectiveConstraintSet.
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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.
void sofa::component::constraint::projective::PartialLinearMovementProjectiveConstraint< DataTypes >::clearIndices |
methods to add/remove some indices, keyTimes, keyMovement
void sofa::component::constraint::projective::PartialLinearMovementProjectiveConstraint< DataTypes >::clearKeyMovements |
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overridevirtual |
Render internal data of this object, for debugging purposes.
Reimplemented from sofa::core::objectmodel::BaseObject.
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overridevirtual |
– Constraint interface
Reimplemented from sofa::core::objectmodel::BaseObject.
void sofa::component::constraint::projective::PartialLinearMovementProjectiveConstraint< TDataTypes >::interpolatePosition | ( | Real | cT, |
typename std::enable_if< std::is_same< MyCoord, defaulttype::RigidCoord< 3, Real > >::value, VecCoord >::type & | x | ||
) |
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protected |
void sofa::component::constraint::projective::PartialLinearMovementProjectiveConstraint< TDataTypes >::interpolatePosition | ( | Real | cT, |
typename std::enable_if<!std::is_same< MyCoord, defaulttype::RigidCoord< 3, Real > >::value, VecCoord >::type & | x | ||
) |
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protected |
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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 >.
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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 >.
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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 >.
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protected |
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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 >.
void sofa::component::constraint::projective::PartialLinearMovementProjectiveConstraint< DataTypes >::removeIndex | ( | Index | index | ) |
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overridevirtual |
Reset to initial state.
Reimplemented from sofa::core::objectmodel::BaseObject.
sofa::component::constraint::projective::PartialLinearMovementProjectiveConstraint< TDataTypes >::SOFA_CLASS | ( | SOFA_TEMPLATE(PartialLinearMovementProjectiveConstraint< TDataTypes >, TDataTypes) | , |
SOFA_TEMPLATE(sofa::core::behavior::ProjectiveConstraintSet, TDataTypes) | |||
) |
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friend |