SOFA API  180226c0
Open source framework for multi-physics simuation
sofa::component::constraintset::SlidingConstraint< DataTypes > Class Template Reference

#include <SlidingConstraint.h>

Inheritance diagram for sofa::component::constraintset::SlidingConstraint< DataTypes >:

Protected Attributes

Data< intd_m1
 index of the spliding point on the first model More...
 
Data< intd_m2a
 index of one end of the sliding axis More...
 
Data< intd_m2b
 index of the other end of the sliding axis More...
 
Data< Derivd_force
 interaction force More...
 
Real m_dist
 
Real m_thirdConstraint
 
bool m_yetIntegrated
 
unsigned int m_cid
 
- Protected Attributes inherited from sofa::core::behavior::PairInteractionConstraint< DataTypes >
SingleLink< PairInteractionConstraint< DataTypes >, MechanicalState< DataTypes >, BaseLink::FLAG_STOREPATH|BaseLink::FLAG_STRONGLINK > mstate1
 
SingleLink< PairInteractionConstraint< DataTypes >, MechanicalState< DataTypes >, BaseLink::FLAG_STOREPATH|BaseLink::FLAG_STRONGLINK > mstate2
 
- Protected Attributes inherited from sofa::core::behavior::BaseConstraintSet
Data< intgroup
 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::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(SlidingConstraint, DataTypes), SOFA_TEMPLATE(core::behavior::PairInteractionConstraint, DataTypes))
 
void init () override
 Initialization method called at graph creation and modification, during top-down traversal. More...
 
void buildConstraintMatrix (const core::ConstraintParams *cParams, DataMatrixDeriv &c1, DataMatrixDeriv &c2, unsigned int &cIndex, const DataVecCoord &x1, const DataVecCoord &x2) override
 
void getConstraintViolation (const core::ConstraintParams *cParams, defaulttype::BaseVector *v, const DataVecCoord &x1, const DataVecCoord &x2, const DataVecDeriv &v1, const DataVecDeriv &v2) override
 
void getConstraintResolution (const core::ConstraintParams *, std::vector< core::behavior::ConstraintResolution * > &resTab, unsigned int &offset) override
 
void storeLambda (const ConstraintParams *cParams, sofa::core::MultiVecDerivId res, const sofa::defaulttype::BaseVector *lambda) override
 
void draw (const core::visual::VisualParams *vparams) override
 Render internal data of this object, for debugging purposes. More...
 
- Public Member Functions inherited from sofa::core::behavior::PairInteractionConstraint< DataTypes >
 SOFA_ABSTRACT_CLASS (SOFA_TEMPLATE(PairInteractionConstraint, DataTypes), BaseInteractionConstraint)
 
virtual bool isActive () const
 if false, the constraint does nothing More...
 
void init () override
 Initialization method called at graph creation and modification, during top-down traversal. More...
 
MechanicalState< DataTypes > * getMState1 ()
 Retrieve the associated MechanicalState. More...
 
BaseMechanicalStategetMechModel1 () override
 
MechanicalState< DataTypes > * getMState2 ()
 Retrieve the associated MechanicalState. More...
 
BaseMechanicalStategetMechModel2 () override
 
void getConstraintViolation (const ConstraintParams *cParams, defaulttype::BaseVector *v) override
 
void buildConstraintMatrix (const ConstraintParams *cParams, MultiMatrixDerivId cId, unsigned int &cIndex) override
 
void storeLambda (const ConstraintParams *cParams, MultiVecDerivId res, const sofa::defaulttype::BaseVector *lambda) override
 
virtual std::string getTemplateName () const override
 Get the template type names (if any) used to instantiate this object. More...
 
- Public Member Functions inherited from sofa::core::behavior::BaseInteractionConstraint
 SOFA_ABSTRACT_CLASS (BaseInteractionConstraint, BaseConstraint)
 
- Public Member Functions inherited from sofa::core::behavior::BaseConstraint
 SOFA_ABSTRACT_CLASS (BaseConstraint, BaseConstraintSet)
 
int getGroup () const
 Get the 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...
 
void setGroup (int g)
 Set the 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...
 
virtual void getConstraintInfo (const ConstraintParams *cParams, VecConstraintBlockInfo &blocks, VecPersistentID &ids, VecConstCoord &positions, VecConstDeriv &directions, VecConstArea &areas)
 
virtual void getConstraintResolution (std::vector< ConstraintResolution * > &resTab, unsigned int &offset)
 
- Public Member Functions inherited from sofa::core::behavior::BaseConstraintSet
 SOFA_ABSTRACT_CLASS (BaseConstraintSet, objectmodel::BaseObject)
 
virtual void resetConstraint ()
 
virtual void setConstraintId (unsigned cId)
 
virtual void processGeometricalData ()
 
virtual void getConstraintViolation (const ConstraintParams *, defaulttype::BaseVector *, unsigned int)
 
bool insertInNode (objectmodel::BaseNode *node) override
 
bool removeInNode (objectmodel::BaseNode *node) override
 
- 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...
 
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 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 reset ()
 Reset to initial state. More...
 
virtual void cleanup ()
 
- 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)
 

Protected Member Functions

 SlidingConstraint ()
 
 SlidingConstraint (MechanicalState *object)
 
 SlidingConstraint (MechanicalState *object1, MechanicalState *object2)
 
virtual ~SlidingConstraint ()
 
- Protected Member Functions inherited from sofa::core::behavior::PairInteractionConstraint< DataTypes >
 PairInteractionConstraint (MechanicalState< DataTypes > *mm1=nullptr, MechanicalState< DataTypes > *mm2=nullptr)
 
 ~PairInteractionConstraint () override
 
void storeLambda (const ConstraintParams *cParams, Data< VecDeriv > &res1, Data< VecDeriv > &res2, const Data< MatrixDeriv > &j1, const Data< MatrixDeriv > &j2, const sofa::defaulttype::BaseVector *lambda)
 
void updateForceMask () override
 
- Protected Member Functions inherited from sofa::core::behavior::BaseInteractionConstraint
 BaseInteractionConstraint ()
 
 ~BaseInteractionConstraint () override
 
- Protected Member Functions inherited from sofa::core::behavior::BaseConstraint
 BaseConstraint ()
 
 ~BaseConstraint () override
 
- Protected Member Functions inherited from sofa::core::behavior::BaseConstraintSet
 BaseConstraintSet ()
 
 ~BaseConstraintSet () 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...
 

Additional Inherited Members

- Public Attributes inherited from sofa::core::behavior::PairInteractionConstraint< DataTypes >
Data< SRealendTime
 Time when the constraint becomes inactive (-1 for infinitely active) More...
 
- Public Attributes inherited from sofa::core::behavior::BaseConstraintSet
Data< unsigned intm_constraintIndex
 Constraint index (first index in the right hand term resolution vector) More...
 
unsigned m_cId
 
- 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}
 
- Static Public Member Functions inherited from sofa::core::behavior::PairInteractionConstraint< DataTypes >
static bool canCreate (T *&obj, objectmodel::BaseContext *context, objectmodel::BaseObjectDescription *arg)
 
static T::SPtr create (T *p0, core::objectmodel::BaseContext *context, core::objectmodel::BaseObjectDescription *arg)
 Construction method called by ObjectFactory. More...
 
static std::string templateName (const PairInteractionConstraint< 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)
 

Attribute details

template<class DataTypes >
Data<Deriv> sofa::component::constraintset::SlidingConstraint< DataTypes >::d_force
protected

interaction force

template<class DataTypes >
Data<int> sofa::component::constraintset::SlidingConstraint< DataTypes >::d_m1
protected

index of the spliding point on the first model

template<class DataTypes >
Data<int> sofa::component::constraintset::SlidingConstraint< DataTypes >::d_m2a
protected

index of one end of the sliding axis

template<class DataTypes >
Data<int> sofa::component::constraintset::SlidingConstraint< DataTypes >::d_m2b
protected

index of the other end of the sliding axis

template<class DataTypes >
unsigned int sofa::component::constraintset::SlidingConstraint< DataTypes >::m_cid
protected
template<class DataTypes >
Real sofa::component::constraintset::SlidingConstraint< DataTypes >::m_dist
protected
template<class DataTypes >
Real sofa::component::constraintset::SlidingConstraint< DataTypes >::m_thirdConstraint
protected
template<class DataTypes >
bool sofa::component::constraintset::SlidingConstraint< DataTypes >::m_yetIntegrated
protected

Constructor details

template<class DataTypes >
sofa::component::constraintset::SlidingConstraint< DataTypes >::SlidingConstraint ( MechanicalState object)
protected
template<class DataTypes >
sofa::component::constraintset::SlidingConstraint< DataTypes >::SlidingConstraint ( MechanicalState object1,
MechanicalState object2 
)
protected
template<class DataTypes >
virtual sofa::component::constraintset::SlidingConstraint< DataTypes >::~SlidingConstraint ( )
inlineprotectedvirtual

Function details

template<class DataTypes >
void sofa::component::constraintset::SlidingConstraint< DataTypes >::buildConstraintMatrix ( const core::ConstraintParams cParams,
DataMatrixDeriv c1,
DataMatrixDeriv c2,
unsigned int cIndex,
const DataVecCoord x1,
const DataVecCoord x2 
)
overridevirtual

Construct the Jacobian Matrix

Parameters
c1and c2 are the results constraint sparse matrix
cIndexis the index of the next constraint equation: when building the constraint matrix, you have to use this index, and then update it
x1and x2 are the position vectors used for contraint equation computation
cParamsdefines the state vectors to use for positions and velocities. Also defines the order of the constraint (POS, VEL, ACC)

This is the method that should be implemented by the component

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

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

Render internal data of this object, for debugging purposes.

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

template<class DataTypes >
void sofa::component::constraintset::SlidingConstraint< DataTypes >::getConstraintResolution ( const core::ConstraintParams cParams,
std::vector< core::behavior::ConstraintResolution * > &  resTab,
unsigned int offset 
)
overridevirtual

Add the corresponding ConstraintResolution using the offset parameter

Parameters
cParamsdefines the state vectors to use for positions and velocities. Also defines the order of the constraint (POS, VEL, ACC) and resolution parameters (smoothness, ...)
resTabis the result vector that contains the contraint resolution algorithms

Reimplemented from sofa::core::behavior::BaseConstraint.

template<class DataTypes >
void sofa::component::constraintset::SlidingConstraint< DataTypes >::getConstraintViolation ( const core::ConstraintParams cParams,
defaulttype::BaseVector v,
const DataVecCoord x1,
const DataVecCoord x2,
const DataVecDeriv v1,
const DataVecDeriv v2 
)
overridevirtual

Construct the Constraint violations vector of each constraint

Parameters
vis the result vector that contains the whole constraints violations
x1and x2 are the position vectors used to compute contraint position violation
v1and v2 are the velocity vectors used to compute contraint velocity violation
cParamsdefines the state vectors to use for positions and velocities. Also defines the order of the constraint (POS, VEL, ACC)

This is the method that should be implemented by the component

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

template<class DataTypes >
void sofa::component::constraintset::SlidingConstraint< DataTypes >::init ( void  )
overridevirtual

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

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

template<class DataTypes >
sofa::component::constraintset::SlidingConstraint< DataTypes >::SOFA_CLASS ( SOFA_TEMPLATE(SlidingConstraint< DataTypes >, DataTypes ,
SOFA_TEMPLATE(core::behavior::PairInteractionConstraint, DataTypes  
)
template<class DataTypes >
void sofa::component::constraintset::SlidingConstraint< DataTypes >::storeLambda ( const ConstraintParams cParams,
sofa::core::MultiVecDerivId  res,
const sofa::defaulttype::BaseVector lambda 
)
overridevirtual

Store the constraint lambda at the constraint dofs at the given VecDerivId location. res = J^t * lambda. J is the sparse matrix containing the constraint jacobian that was used to build the constraint matrix ( see BaseConstraintSet::buildConstraintMatrix ).

Parameters
cParamsstores the id of the state vectors used during the constraint solving step. Mostly it helps retrieving the MatrixDerivId where the constraint jacobian J is stored.
resis the state vector Id where to store the result.
lambdais the vector of scalar constraint impulses. The direction are stored in the MatrixDerivId stored in the cParams.

Implements sofa::core::behavior::BaseConstraint.