#include <SkeletalMotionProjectiveConstraint.h>

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

Protected Attributes
Data< type::SVector< SkeletonJoint< TDataTypes > > >	skeletonJoints
	skeleton joints More...

Data< type::SVector< SkeletonBone > >	skeletonBones
	skeleton bones More...

Data< float >	animationSpeed
	animation speed More...

Data< bool >	active
	is the projective constraint activated? More...

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(SkeletalMotionProjectiveConstraint, TDataTypes), SOFA_TEMPLATE(sofa::core::behavior::ProjectiveConstraintSet, TDataTypes))

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

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

float	getAnimationSpeed () const

void	setAnimationSpeed (float speed)

void	findKeyTimes (Real ct)

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

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

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

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

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

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

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

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

void	setSkeletalMotion (const type::vector< SkeletonJoint< DataTypes > > &skeletonJoints, const type::vector< SkeletonBone > &skeletonBones)

void	addChannel (unsigned int jointIndex, Coord channel, double time)

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	applyConstraint (sofa::core::behavior::ZeroDirichletCondition *)

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
	SkeletalMotionProjectiveConstraint ()

virtual	~SkeletalMotionProjectiveConstraint ()

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)

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

Additional Inherited Members
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}

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

◆ active

template<class TDataTypes >

Data<bool> sofa::component::constraint::projective::SkeletalMotionProjectiveConstraint< TDataTypes >::active

protected

is the projective constraint activated?

◆ animationSpeed

template<class TDataTypes >

Data<float> sofa::component::constraint::projective::SkeletalMotionProjectiveConstraint< TDataTypes >::animationSpeed

protected

animation speed

◆ skeletonBones

template<class TDataTypes >

Data<type::SVector<SkeletonBone> > sofa::component::constraint::projective::SkeletalMotionProjectiveConstraint< TDataTypes >::skeletonBones

protected

skeleton bones

◆ skeletonJoints

template<class TDataTypes >

Data<type::SVector<SkeletonJoint<TDataTypes> > > sofa::component::constraint::projective::SkeletalMotionProjectiveConstraint< TDataTypes >::skeletonJoints

protected

skeleton joints

Constructor details

◆ SkeletalMotionProjectiveConstraint()

template<class DataTypes >

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

protected

◆ ~SkeletalMotionProjectiveConstraint()

template<class DataTypes >

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

protectedvirtual

Function details

◆ addChannel()

template<class DataTypes >

void sofa::component::constraint::projective::SkeletalMotionProjectiveConstraint< DataTypes >::addChannel	(	unsigned int	jointIndex,
		Coord	channel,
		double	time
	)

◆ applyConstraint() [1/2]

template<class DataTypes >

void sofa::component::constraint::projective::SkeletalMotionProjectiveConstraint< 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() [2/2]

template<class DataTypes >

void sofa::component::constraint::projective::SkeletalMotionProjectiveConstraint< 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.

◆ draw()

template<class DataTypes >

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

overridevirtual

Render internal data of this object, for debugging purposes.

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

◆ findKeyTimes()

template<class DataTypes >

void sofa::component::constraint::projective::SkeletalMotionProjectiveConstraint< DataTypes >::findKeyTimes ( Real ct )

◆ getAnimationSpeed()

template<class TDataTypes >

float sofa::component::constraint::projective::SkeletalMotionProjectiveConstraint< TDataTypes >::getAnimationSpeed ( ) const

inline

◆ init()

template<class DataTypes >

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

overridevirtual

Initialization method called at graph creation and modification, during top-down traversal.

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

◆ interpolatePosition()

template<class DataTypes >

template<class MyCoord >

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

protected

◆ localToGlobal()

template<class DataTypes >

template<class MyCoord >

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

◆ projectJacobianMatrix()

template<class DataTypes >

void sofa::component::constraint::projective::SkeletalMotionProjectiveConstraint< 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::SkeletalMotionProjectiveConstraint< 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::SkeletalMotionProjectiveConstraint< 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::SkeletalMotionProjectiveConstraint< 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 TDataTypes >

template<class DataDeriv >

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

protected

◆ projectVelocity()

template<class DataTypes >

void sofa::component::constraint::projective::SkeletalMotionProjectiveConstraint< 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 >.

◆ reset()

template<class DataTypes >

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

overridevirtual

Reset to initial state.

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

◆ setAnimationSpeed()

template<class TDataTypes >

void sofa::component::constraint::projective::SkeletalMotionProjectiveConstraint< TDataTypes >::setAnimationSpeed ( float speed )

inline

◆ setSkeletalMotion()

template<class DataTypes >

void sofa::component::constraint::projective::SkeletalMotionProjectiveConstraint< DataTypes >::setSkeletalMotion	(	const type::vector< SkeletonJoint< DataTypes > > &	skeletonJoints,
		const type::vector< SkeletonBone > &	skeletonBones
	)

◆ SOFA_CLASS()

template<class TDataTypes >

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

Protected Attributes

Public Member Functions

Protected Member Functions

Additional Inherited Members

Attribute details

◆ active

◆ animationSpeed

◆ skeletonBones

◆ skeletonJoints

Constructor details

◆ SkeletalMotionProjectiveConstraint()

◆ ~SkeletalMotionProjectiveConstraint()

Function details

◆ addChannel()

◆ applyConstraint() [1/2]

◆ applyConstraint() [2/2]

◆ draw()

◆ findKeyTimes()

◆ getAnimationSpeed()

◆ init()

◆ interpolatePosition()

◆ localToGlobal()

◆ projectJacobianMatrix()

◆ projectMatrix()

◆ projectPosition()

◆ projectResponse()

◆ projectResponseT()

◆ projectVelocity()

◆ reset()

◆ setAnimationSpeed()

◆ setSkeletalMotion()

◆ SOFA_CLASS()