SOFA API  4a493466
Open source framework for multi-physics simuation
sofa::component::constraintset::PrecomputedConstraintCorrection< TDataTypes > Class Template Reference

#include <PrecomputedConstraintCorrection.h>

Component computing constraint forces within a simulated body using the compliance method. More...

Inheritance diagram for sofa::component::constraintset::PrecomputedConstraintCorrection< TDataTypes >:

Detailed Description

template<class TDataTypes>
class sofa::component::constraintset::PrecomputedConstraintCorrection< TDataTypes >

Component computing constraint forces within a simulated body using the compliance method.

Classes

struct  InverseStorage
 

Public Attributes

Data< boolm_rotations
 
Data< boolm_restRotations
 
Data< boolrecompute
 if true, always recompute the compliance More...
 
Data< doubledebugViewFrameScale
 Scale on computed node's frame. More...
 
sofa::core::objectmodel::DataFileName f_fileCompliance
 Precomputed compliance matrix data file. More...
 
Data< std::string > fileDir
 If not empty, the compliance will be saved in this repertory. More...
 
std::string invName
 
InverseStorageinvM
 
RealappCompliance
 
unsigned int dimensionAppCompliance
 
unsigned int nbRows
 
unsigned int nbCols
 
unsigned int dof_on_node
 
unsigned int nbNodes
 
helper::vector< int_indexNodeSparseCompliance
 
helper::vector< Deriv_sparseCompliance
 
Real Fbuf [6]
 
Real DXbuf
 
helper::vector< intid_to_localIndex
 
helper::vector< unsigned intlocalIndex_to_id
 
std::list< unsigned intactive_local_force
 
linearsolver::FullMatrix< ReallocalW
 
doubleconstraint_force
 
VecDeriv constraint_D
 
VecDeriv constraint_F
 
std::list< intconstraint_dofs
 
- Public Attributes inherited from sofa::core::objectmodel::BaseObject
Data< boolf_listening
 if true, handle the events, otherwise ignore the events More...
 
- Public Attributes inherited from sofa::core::objectmodel::Base
helper::system::SofaOStream< helper::logging::Message::Warningserr
 
helper::system::SofaOStream< helper::logging::Message::Infosout
 
helper::system::SofaEndl< Basesendl
 runs the stream processing More...
 
Data< std::string > name
 Name of the object. More...
 
Data< boolf_printLog
 if true, emits extra messages at runtime. More...
 
Data< sofa::core::objectmodel::TagSetf_tags
 list of the subsets the objet belongs to More...
 
Data< sofa::defaulttype::BoundingBoxf_bbox
 this object bounding box More...
 
Data< ComponentStated_componentstate
 the object state More...
 
Data< ComponentState > & m_componentstate {d_componentstate}
 TODO bruno: uncomment once c++17 is enabled in SOFA. More...
 
std::string m_definitionSourceFileName {""}
 
int m_definitionSourceFilePos {-1}
 
std::string m_instanciationSourceFileName {""}
 
int m_instanciationSourceFilePos {-1}
 

Protected Attributes

std::list< intm_activeDofs
 
- Protected Attributes inherited from sofa::core::behavior::ConstraintCorrection< TDataTypes >
MechanicalState< DataTypes > * mstate
 
- Protected Attributes inherited from sofa::core::objectmodel::BaseObject
SingleLink< BaseObject, BaseContext, BaseLink::FLAG_DOUBLELINKl_context
 
LinkSlaves l_slaves
 
SingleLink< BaseObject, BaseObject, BaseLink::FLAG_DOUBLELINKl_master
 
- Protected Attributes inherited from sofa::core::objectmodel::Base
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...
 

Public Member Functions

 SOFA_CLASS (SOFA_TEMPLATE(PrecomputedConstraintCorrection, TDataTypes), SOFA_TEMPLATE(core::behavior::ConstraintCorrection, TDataTypes))
 
void bwdInit () override
 Initialization method called at graph creation and modification, during bottom-up traversal. More...
 
void addComplianceInConstraintSpace (const sofa::core::ConstraintParams *cparams, sofa::defaulttype::BaseMatrix *W) override
 
void getComplianceMatrix (defaulttype::BaseMatrix *m) const override
 Fill the matrix m with the full Compliance Matrix. More...
 
void computeMotionCorrection (const core::ConstraintParams *, core::MultiVecDerivId dx, core::MultiVecDerivId f) override
 Compute the corrective motion coming from the motion space force. More...
 
void applyMotionCorrection (const sofa::core::ConstraintParams *cparams, sofa::Data< VecCoord > &x, sofa::Data< VecDeriv > &v, sofa::Data< VecDeriv > &dx, const sofa::Data< VecDeriv > &correction) override
 
void applyPositionCorrection (const sofa::core::ConstraintParams *cparams, sofa::Data< VecCoord > &x, sofa::Data< VecDeriv > &dx, const sofa::Data< VecDeriv > &correction) override
 
void applyVelocityCorrection (const sofa::core::ConstraintParams *cparams, sofa::Data< VecDeriv > &v, sofa::Data< VecDeriv > &dv, const sofa::Data< VecDeriv > &correction) override
 
virtual void rotateConstraints (bool back)
 
virtual void rotateResponse ()
 
void draw (const core::visual::VisualParams *vparams) override
 Render internal data of this object, for debugging purposes. More...
 
RealgetInverse ()
 
template<>
SOFA_CONSTRAINT_API void rotateConstraints (bool back)
 
template<>
SOFA_CONSTRAINT_API void rotateConstraints (bool)
 
template<>
SOFA_CONSTRAINT_API void rotateResponse ()
 
template<>
SOFA_CONSTRAINT_API void rotateResponse ()
 
template<>
SOFA_CONSTRAINT_API void draw (const core::visual::VisualParams *)
 Render internal data of this object, for debugging purposes. More...
 
template<>
SOFA_CONSTRAINT_API void draw (const core::visual::VisualParams *)
 Render internal data of this object, for debugging purposes. More...
 
template<>
void rotateConstraints (bool back)
 
template<>
void rotateConstraints (bool back)
 
template<>
void rotateResponse ()
 
template<>
void rotateResponse ()
 
template<>
void draw (const core::visual::VisualParams *vparams)
 Render internal data of this object, for debugging purposes. More...
 
template<>
void draw (const core::visual::VisualParams *vparams)
 Render internal data of this object, for debugging purposes. More...
 
Deprecated API
void applyContactForce (const defaulttype::BaseVector *f) override
 
void resetContactForce () override
 
Unbuilt constraint system during resolution
void resetForUnbuiltResolution (double *f, std::list< unsigned int > &) override
 
bool hasConstraintNumber (int index) override
 
void addConstraintDisplacement (double *d, int begin, int end) override
 
void setConstraintDForce (double *df, int begin, int end, bool update) override
 
void getBlockDiagonalCompliance (defaulttype::BaseMatrix *W, int begin, int end) override
 
- Public Member Functions inherited from sofa::core::behavior::ConstraintCorrection< TDataTypes >
 SOFA_ABSTRACT_CLASS (SOFA_TEMPLATE(ConstraintCorrection, TDataTypes), BaseConstraintCorrection)
 
void init () override
 Initialization method called at graph creation and modification, during top-down traversal. More...
 
void cleanup () override
 
void addConstraintSolver (core::behavior::ConstraintSolver *s) override
 
void removeConstraintSolver (core::behavior::ConstraintSolver *s) override
 
void computeMotionCorrectionFromLambda (const core::ConstraintParams *cparams, core::MultiVecDerivId dx, const defaulttype::BaseVector *lambda) override
 
void applyMotionCorrection (const core::ConstraintParams *cparams, core::MultiVecCoordId x, core::MultiVecDerivId v, core::MultiVecDerivId dx, core::ConstMultiVecDerivId correction) override
 
void applyPositionCorrection (const core::ConstraintParams *cparams, core::MultiVecCoordId x, core::MultiVecDerivId dx, core::ConstMultiVecDerivId correction) override
 
void applyVelocityCorrection (const core::ConstraintParams *cparams, core::MultiVecDerivId v, core::MultiVecDerivId dv, core::ConstMultiVecDerivId correction) override
 
void applyPredictiveConstraintForce (const core::ConstraintParams *cparams, core::MultiVecDerivId f, const defaulttype::BaseVector *lambda) override
 
virtual std::string getTemplateName () const override
 Get the template type names (if any) used to instantiate this object. More...
 
MechanicalState< DataTypes > * getMState () const
 
void setMState (MechanicalState< DataTypes > *_mstate)
 
- Public Member Functions inherited from sofa::core::behavior::BaseConstraintCorrection
 SOFA_ABSTRACT_CLASS (BaseConstraintCorrection, objectmodel::BaseObject)
 
virtual bool isActive ()
 
virtual void rebuildSystem (double, double)
 
virtual void computeResidual (const core::ExecParams *, defaulttype::BaseVector *)
 
virtual void getComplianceWithConstraintMerge (defaulttype::BaseMatrix *, std::vector< int > &)
 For multigrid approach => constraints are merged. More...
 
- Public Member Functions inherited from sofa::core::objectmodel::BaseObject
 SOFA_CLASS (BaseObject, Base)
 
virtual void computeBBox (const core::ExecParams *, bool=false)
 
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)
 
void * findLinkDestClass (const BaseClass *destType, const std::string &path, const BaseLink *link) override
 
virtual std::string getPathName () const
 Return the full path name of this object. More...
 
virtual bool insertInNode (BaseNode *)
 
virtual bool removeInNode (BaseNode *)
 
template<class T >
T::SPtr searchLocal () const
 Local search of an object of the given type. More...
 
template<class T >
T::SPtr searchUp () const
 Upward search of an object of the given type, starting from the local context. More...
 
template<class T >
T::SPtr searchDown () const
 Downward search of an object of the given type, starting from the local context. More...
 
template<class T >
T::SPtr searchFromRoot () const
 
template<class T >
T::SPtr searchInParents () const
 
template<class T >
helper::vector< typename T::SPtr > searchAllLocal () const
 Local search of all objects of the given type. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllUp () const
 Upward search of all objects of the given type, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllDown () const
 Downward search of all objects of the given type, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllFromRoot () const
 Search of all objects of the given type, starting from the root. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllInParents () const
 
template<class T >
helper::vector< typename T::SPtr > searchAllLocal (const Tag &t) const
 Local search of all objects of the given type with a given Tag. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllUp (const Tag &t) const
 Upward search of all objects of the given type with a given Tag, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllDown (const Tag &t) const
 Downward search of all objects of the given typee with a given Tag, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllFromRoot (const Tag &t) const
 Search of all objects of the given typee with a given Tag, starting from the root. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllInParents (const Tag &t) const
 
template<class T >
helper::vector< typename T::SPtr > searchAllLocal (const TagSet &t) const
 Local search of all objects of the given type with a given TagSet. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllUp (const TagSet &t) const
 Upward search of all objects of the given type with a given TagSet, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllDown (const TagSet &t) const
 Downward search of all objects of the given typee with a given TagSet, starting from the local context. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllFromRoot (const TagSet &t) const
 Search of all objects of the given typee with a given TagSet, starting from the root. More...
 
template<class T >
helper::vector< typename T::SPtr > searchAllInParents (const TagSet &t) const
 
SReal getTime () const
 Current time. More...
 
const BaseContextgetContext () const
 
BaseContextgetContext ()
 
const BaseObjectgetMaster () const
 
BaseObjectgetMaster ()
 
const VecSlavesgetSlaves () const
 
BaseObjectgetSlave (const std::string &name) const
 
virtual void addSlave (BaseObject::SPtr s)
 
virtual void removeSlave (BaseObject::SPtr s)
 
void copyAspect (int destAspect, int srcAspect) override
 Copy the source aspect to the destination aspect for each Data in the component. More...
 
void releaseAspect (int aspect) override
 Release memory allocated for the specified aspect. More...
 
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 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 reset ()
 Reset to initial state. More...
 
- Public Member Functions inherited from sofa::core::objectmodel::Base
virtual const BaseClassgetClass () const
 
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...
 
virtual 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...
 
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
 
const std::string getWarnings () const
 
const std::string getOutputs () const
 use getLoggedMessageAsString() or getLoggedMessage instead. More...
 
void clearWarnings ()
 use getLoggedMessageAsString() or getLoggedMessage instead. More...
 
void clearOutputs ()
 use clearLoggedMessages() instead More...
 
void processStream (std::ostream &out)
 use clearLoggedMessages() instead More...
 
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::TagSetgetTags () 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=" ")
 
BaseDatafindData (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...
 
BaseLinkfindLink (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 (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 removeLink (BaseLink *l)
 Remove a link. More...
 
void addAlias (BaseLink *link, const char *alias)
 Add an alias to a Link. More...
 
const VecDatagetDataFields () const
 Accessor to the vector containing all the fields of this object. More...
 
const MapDatagetDataAliases () const
 Accessor to the map containing all the aliases of this object. More...
 
const VecLinkgetLinks () const
 Accessor to the vector containing all the fields of this object. More...
 
const MapLinkgetLinkAliases () 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)
 

Static Public Member Functions

static std::map< std::string, InverseStorage > & getInverseMap ()
 
static InverseStoragegetInverse (std::string name)
 
static void releaseInverse (std::string name, InverseStorage *inv)
 
- Static Public Member Functions inherited from sofa::core::behavior::ConstraintCorrection< TDataTypes >
template<class T >
static bool canCreate (T *&obj, objectmodel::BaseContext *context, objectmodel::BaseObjectDescription *arg)
 Pre-construction check method called by ObjectFactory. More...
 
static std::string templateName (const ConstraintCorrection< DataTypes > *=nullptr)
 
- 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 MyClassGetClass ()
 
template<class T >
static void dynamicCast (T *&ptr, Base *b)
 
template<class T >
static std::string typeName (const T *ptr=nullptr)
 
template<class T >
static std::string className (const T *ptr=nullptr)
 
template<class T >
static std::string namespaceName (const T *ptr=nullptr)
 
template<class T >
static std::string templateName (const T *ptr=nullptr)
 
template<class T >
static std::string shortName (const T *ptr=nullptr, BaseObjectDescription *=nullptr)
 

Protected Member Functions

 PrecomputedConstraintCorrection (sofa::core::behavior::MechanicalState< DataTypes > *mm=nullptr)
 
virtual ~PrecomputedConstraintCorrection ()
 
bool loadCompliance (std::string fileName)
 Load compliance matrix from memory or external file according to fileName. More...
 
void saveCompliance (const std::string &fileName)
 Save compliance matrix into a file. More...
 
std::string buildFileName ()
 Builds the compliance file name using the SOFA component internal data. More...
 
void computeDx (Data< VecDeriv > &dx, const Data< VecDeriv > &f, const std::list< int > &activeDofs)
 Compute dx correction from motion space force vector. More...
 
- Protected Member Functions inherited from sofa::core::behavior::ConstraintCorrection< TDataTypes >
 ConstraintCorrection (MechanicalState< DataTypes > *ms=nullptr)
 Default Constructor. More...
 
 ~ConstraintCorrection () override
 Default Destructor. More...
 
- Protected Member Functions inherited from sofa::core::behavior::BaseConstraintCorrection
 BaseConstraintCorrection ()
 
 ~BaseConstraintCorrection () override
 
- 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, unsigned int, 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...
 

Attribute details

template<class TDataTypes >
helper::vector<int> sofa::component::constraintset::PrecomputedConstraintCorrection< TDataTypes >::_indexNodeSparseCompliance
template<class TDataTypes >
helper::vector<Deriv> sofa::component::constraintset::PrecomputedConstraintCorrection< TDataTypes >::_sparseCompliance
template<class TDataTypes >
std::list<unsigned int> sofa::component::constraintset::PrecomputedConstraintCorrection< TDataTypes >::active_local_force
template<class TDataTypes >
Real* sofa::component::constraintset::PrecomputedConstraintCorrection< TDataTypes >::appCompliance
template<class TDataTypes >
VecDeriv sofa::component::constraintset::PrecomputedConstraintCorrection< TDataTypes >::constraint_D
template<class TDataTypes >
std::list<int> sofa::component::constraintset::PrecomputedConstraintCorrection< TDataTypes >::constraint_dofs
template<class TDataTypes >
VecDeriv sofa::component::constraintset::PrecomputedConstraintCorrection< TDataTypes >::constraint_F
template<class TDataTypes >
double* sofa::component::constraintset::PrecomputedConstraintCorrection< TDataTypes >::constraint_force
template<class TDataTypes >
Data<double> sofa::component::constraintset::PrecomputedConstraintCorrection< TDataTypes >::debugViewFrameScale

Scale on computed node's frame.

template<class TDataTypes >
unsigned int sofa::component::constraintset::PrecomputedConstraintCorrection< TDataTypes >::dimensionAppCompliance
template<class TDataTypes >
unsigned int sofa::component::constraintset::PrecomputedConstraintCorrection< TDataTypes >::dof_on_node
template<class TDataTypes >
Real sofa::component::constraintset::PrecomputedConstraintCorrection< TDataTypes >::DXbuf

Precomputed compliance matrix data file.

template<class TDataTypes >
Real sofa::component::constraintset::PrecomputedConstraintCorrection< TDataTypes >::Fbuf[6]
template<class TDataTypes >
Data<std::string> sofa::component::constraintset::PrecomputedConstraintCorrection< TDataTypes >::fileDir

If not empty, the compliance will be saved in this repertory.

template<class TDataTypes >
helper::vector<int> sofa::component::constraintset::PrecomputedConstraintCorrection< TDataTypes >::id_to_localIndex
template<class TDataTypes >
InverseStorage* sofa::component::constraintset::PrecomputedConstraintCorrection< TDataTypes >::invM
template<class TDataTypes >
std::string sofa::component::constraintset::PrecomputedConstraintCorrection< TDataTypes >::invName
template<class TDataTypes >
helper::vector<unsigned int> sofa::component::constraintset::PrecomputedConstraintCorrection< TDataTypes >::localIndex_to_id
template<class TDataTypes >
std::list< int > sofa::component::constraintset::PrecomputedConstraintCorrection< TDataTypes >::m_activeDofs
protected
template<class TDataTypes >
Data<bool> sofa::component::constraintset::PrecomputedConstraintCorrection< TDataTypes >::m_restRotations
template<class TDataTypes >
Data<bool> sofa::component::constraintset::PrecomputedConstraintCorrection< TDataTypes >::m_rotations
template<class TDataTypes >
unsigned int sofa::component::constraintset::PrecomputedConstraintCorrection< TDataTypes >::nbCols
template<class TDataTypes >
unsigned int sofa::component::constraintset::PrecomputedConstraintCorrection< TDataTypes >::nbNodes
template<class TDataTypes >
unsigned int sofa::component::constraintset::PrecomputedConstraintCorrection< TDataTypes >::nbRows
template<class TDataTypes >
Data<bool> sofa::component::constraintset::PrecomputedConstraintCorrection< TDataTypes >::recompute

if true, always recompute the compliance

Constructor details

Function details

template<class DataTypes >
void sofa::component::constraintset::PrecomputedConstraintCorrection< DataTypes >::addComplianceInConstraintSpace ( const sofa::core::ConstraintParams cparams,
sofa::defaulttype::BaseMatrix W 
)
overridevirtual
template<class DataTypes >
void sofa::component::constraintset::PrecomputedConstraintCorrection< DataTypes >::addConstraintDisplacement ( double d,
int  begin,
int  end 
)
overridevirtual
template<class DataTypes >
void sofa::component::constraintset::PrecomputedConstraintCorrection< DataTypes >::applyContactForce ( const defaulttype::BaseVector f)
overridevirtual
template<class DataTypes >
void sofa::component::constraintset::PrecomputedConstraintCorrection< DataTypes >::applyMotionCorrection ( const sofa::core::ConstraintParams cparams,
sofa::Data< VecCoord > &  x,
sofa::Data< VecDeriv > &  v,
sofa::Data< VecDeriv > &  dx,
const sofa::Data< VecDeriv > &  correction 
)
overridevirtual
template<class DataTypes >
void sofa::component::constraintset::PrecomputedConstraintCorrection< DataTypes >::applyPositionCorrection ( const sofa::core::ConstraintParams cparams,
sofa::Data< VecCoord > &  x,
sofa::Data< VecDeriv > &  dx,
const sofa::Data< VecDeriv > &  correction 
)
overridevirtual
template<class DataTypes >
void sofa::component::constraintset::PrecomputedConstraintCorrection< DataTypes >::applyVelocityCorrection ( const sofa::core::ConstraintParams cparams,
sofa::Data< VecDeriv > &  v,
sofa::Data< VecDeriv > &  dv,
const sofa::Data< VecDeriv > &  correction 
)
overridevirtual
template<class DataTypes >
std::string sofa::component::constraintset::PrecomputedConstraintCorrection< DataTypes >::buildFileName ( )
protected

Builds the compliance file name using the SOFA component internal data.

template<class DataTypes >
void sofa::component::constraintset::PrecomputedConstraintCorrection< DataTypes >::bwdInit ( )
overridevirtual

Initialization method called at graph creation and modification, during bottom-up traversal.

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

template<class DataTypes >
void sofa::component::constraintset::PrecomputedConstraintCorrection< DataTypes >::computeDx ( Data< VecDeriv > &  dx,
const Data< VecDeriv > &  f,
const std::list< int > &  activeDofs 
)
protected

Compute dx correction from motion space force vector.

template<class DataTypes >
void sofa::component::constraintset::PrecomputedConstraintCorrection< DataTypes >::computeMotionCorrection ( const core::ConstraintParams cparams,
core::MultiVecDerivId  dx,
core::MultiVecDerivId  f 
)
overridevirtual

Compute the corrective motion coming from the motion space force.

Parameters
cparamsthe ConstraintParams relative to the constraint solver
dxthe VecId where to store the corrective motion
fis the VecId where the motion space force : f = J^t x lambda

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

template<class DataTypes >
void sofa::component::constraintset::PrecomputedConstraintCorrection< DataTypes >::draw ( const core::visual::VisualParams )
overridevirtual

Render internal data of this object, for debugging purposes.

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

Render internal data of this object, for debugging purposes.

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

Render internal data of this object, for debugging purposes.

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

Render internal data of this object, for debugging purposes.

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

Render internal data of this object, for debugging purposes.

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

template<class DataTypes >
void sofa::component::constraintset::PrecomputedConstraintCorrection< DataTypes >::getBlockDiagonalCompliance ( defaulttype::BaseMatrix W,
int  begin,
int  end 
)
overridevirtual
template<class DataTypes >
void sofa::component::constraintset::PrecomputedConstraintCorrection< DataTypes >::getComplianceMatrix ( defaulttype::BaseMatrix m) const
overridevirtual

Fill the matrix m with the full Compliance Matrix.

Implements sofa::core::behavior::BaseConstraintCorrection.

template<class TDataTypes >
Real* sofa::component::constraintset::PrecomputedConstraintCorrection< TDataTypes >::getInverse ( )
inline
template<class TDataTypes >
static std::map<std::string, InverseStorage>& sofa::component::constraintset::PrecomputedConstraintCorrection< TDataTypes >::getInverseMap ( )
inlinestatic
template<class DataTypes >
bool sofa::component::constraintset::PrecomputedConstraintCorrection< DataTypes >::hasConstraintNumber ( int  index)
overridevirtual
template<class DataTypes >
bool sofa::component::constraintset::PrecomputedConstraintCorrection< DataTypes >::loadCompliance ( std::string  fileName)
protected

Load compliance matrix from memory or external file according to fileName.

Returns
Loading success.
template<class DataTypes >
void sofa::component::constraintset::PrecomputedConstraintCorrection< DataTypes >::releaseInverse ( std::string  name,
InverseStorage inv 
)
static
template<class DataTypes >
void sofa::component::constraintset::PrecomputedConstraintCorrection< DataTypes >::resetContactForce ( )
overridevirtual
template<class DataTypes >
void sofa::component::constraintset::PrecomputedConstraintCorrection< DataTypes >::resetForUnbuiltResolution ( double f,
std::list< unsigned int > &   
)
overridevirtual
template<>
SOFA_CONSTRAINT_API void sofa::component::constraintset::PrecomputedConstraintCorrection< defaulttype::Rigid3Types >::rotateConstraints ( bool  back)
template<>
SOFA_CONSTRAINT_API void sofa::component::constraintset::PrecomputedConstraintCorrection< defaulttype::Vec1Types >::rotateConstraints ( bool  )
template<class DataTypes >
void sofa::component::constraintset::PrecomputedConstraintCorrection< DataTypes >::rotateConstraints ( bool  back)
virtual
template<>
SOFA_CONSTRAINT_API void sofa::component::constraintset::PrecomputedConstraintCorrection< defaulttype::Rigid3Types >::rotateResponse ( )
template<class DataTypes >
void sofa::component::constraintset::PrecomputedConstraintCorrection< DataTypes >::rotateResponse ( )
virtual
template<>
SOFA_CONSTRAINT_API void sofa::component::constraintset::PrecomputedConstraintCorrection< defaulttype::Vec1Types >::rotateResponse ( )
template<class DataTypes >
void sofa::component::constraintset::PrecomputedConstraintCorrection< DataTypes >::saveCompliance ( const std::string &  fileName)
protected

Save compliance matrix into a file.

template<class DataTypes >
void sofa::component::constraintset::PrecomputedConstraintCorrection< DataTypes >::setConstraintDForce ( double df,
int  begin,
int  end,
bool  update 
)
overridevirtual
template<class TDataTypes >
sofa::component::constraintset::PrecomputedConstraintCorrection< TDataTypes >::SOFA_CLASS ( SOFA_TEMPLATE(PrecomputedConstraintCorrection< TDataTypes >, TDataTypes)  ,
SOFA_TEMPLATE(core::behavior::ConstraintCorrection, TDataTypes)   
)