SOFA API  6a688117
Open source framework for multi-physics simuation
sofa::component::constraintset::UnilateralConstraintResolutionWithFriction Class Reference

#include <UnilateralInteractionConstraint.h>

Inheritance diagram for sofa::component::constraintset::UnilateralConstraintResolutionWithFriction:

Protected Attributes

double _mu
 
double _W [6]
 
PreviousForcesContainer_prev
 
bool_active
 

Public Member Functions

 UnilateralConstraintResolutionWithFriction (double mu, PreviousForcesContainer *prev=nullptr, bool *active=nullptr)
 
void init (int line, double **w, double *force) override
 The resolution object can do precomputation with the compliance matrix, and give an initial guess. More...
 
void resolution (int line, double **w, double *d, double *force, double *dFree) override
 Resolution of the constraint for one Gauss-Seidel iteration. More...
 
void store (int line, double *force, bool) override
 Called after Gauss-Seidel last iteration, in order to store last computed forces for the inital guess. More...
 
- Public Member Functions inherited from sofa::core::behavior::ConstraintResolution
 ConstraintResolution (unsigned int nbLines, double tolerance=0.0)
 
virtual ~ConstraintResolution ()
 
virtual void initForce (int, double *)
 The resolution object can provide an initial guess. More...
 
void setNbLines (unsigned int nbLines)
 
unsigned int getNbLines () const
 
void setTolerance (double tolerance)
 
double getTolerance () const
 

Attribute details

bool* sofa::component::constraintset::UnilateralConstraintResolutionWithFriction::_active
protected
double sofa::component::constraintset::UnilateralConstraintResolutionWithFriction::_mu
protected
PreviousForcesContainer* sofa::component::constraintset::UnilateralConstraintResolutionWithFriction::_prev
protected
double sofa::component::constraintset::UnilateralConstraintResolutionWithFriction::_W[6]
protected

Constructor details

sofa::component::constraintset::UnilateralConstraintResolutionWithFriction::UnilateralConstraintResolutionWithFriction ( double  mu,
PreviousForcesContainer prev = nullptr,
bool active = nullptr 
)
inline

Function details

void sofa::component::constraintset::UnilateralConstraintResolutionWithFriction::init ( int  ,
double **  ,
double  
)
overridevirtual

The resolution object can do precomputation with the compliance matrix, and give an initial guess.

Reimplemented from sofa::core::behavior::ConstraintResolution.

void sofa::component::constraintset::UnilateralConstraintResolutionWithFriction::resolution ( int  line,
double **  w,
double d,
double force,
double dFree 
)
overridevirtual

Resolution of the constraint for one Gauss-Seidel iteration.

Reimplemented from sofa::core::behavior::ConstraintResolution.

void sofa::component::constraintset::UnilateralConstraintResolutionWithFriction::store ( int  ,
double ,
bool   
)
overridevirtual

Called after Gauss-Seidel last iteration, in order to store last computed forces for the inital guess.

Reimplemented from sofa::core::behavior::ConstraintResolution.